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2. 发明授权

US06243624B1 Non-Linear muscle-like compliant controller 失效
标题翻译：非线性肌肉相容性控制器
公开(公告)号：US06243624B1
公开(公告)日：2001-06-05
申请号：US09272144
申请日：1999-03-19
申请人： Chi-haur Wu , Der-Tsai Lee
发明人： Chi-haur Wu , Der-Tsai Lee
IPC分类号： G05B1500
CPC分类号： B25J9/1605 , G05B2219/39462 , G05B2219/40264 , G05B2219/40269
摘要： A compliant controller implements a biological model of a primate muscle so as to provide simultaneous position and force control with nonlinear damping for an actuator. The compliant controller uses one or more position sensors but does not require the use of a force sensor to provide force control. The compliant controller implements a force determining algorithm that is a function of an initial actuator position, a subsequently sensed actuator position, a desired actuator position and a position calculated from a nonlinear damping function. The algorithm updates or resets the initial actuator position or the calculated position depending upon the amount of actuator movement sensed. The compliant controller in accordance with the force determining algorithm and resetting of the various position values allows a desired position to be quickly attained while allowing the controller to compliantly respond to the presence or removal of an unknown or unexpected disturbing force.
摘要翻译：兼容控制器实现灵长类动物的生物模型，以便为致动器提供非线性阻尼的同时位置和力控制。兼容控制器使用一个或多个位置传感器，但不需要使用力传感器来提供力控制。柔性控制器实现力确定算法，其是初始致动器位置，随后检测到的致动器位置，期望的致动器位置和由非线性阻尼功能计算的位置的函数。该算法根据感测到的致动器运动量更新或复位初始致动器位置或计算位置。根据力确定算法和复位各种位置值的顺从控制器允许快速获得期望的位置，同时允许控制器顺应地响应未知或意外的干扰力的存在或移除。

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