EP0163934A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Control system for manipulator apparatus with resolved compliant motion control
Assignee: Staeubli International AG
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Filing: 1985-04-30
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Granted: —
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Expires: 2005-04-30
Abstract
Abstract A control system for manipulator apparatus having a manipulator arm movable in a plurality of axes utilizes resolved compliant motion control to improve servo response characteristics. The position and velocity of the manipulator arm are controlled using load modeling to account for compliance in the arm and to synthesize feedback signals respresenting movement of a remote point of the arm to provide a loop bandwidth greater than is possible using feedback signals from inner less remote points of the manipulator that are closer to the drive points. The feedback signals are derived using predetermined combinations of force related feedback signals from the axis drive arrangements and position and velocity feedback signals of the manipulator apparatus at points closer to the main drive and support structure of the manipulator and before certain compliant portions of the manipulator arm. To further enhance response and control of the manipulator arm, load modeling is also used to provide controlled deceleration before the manipulator arm is brought to a stop during work operation.
Inventors
- 👤 William Perzley
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-01 18:33
CPC Classifications
B; B25; B25J; B25J13/00; B25J13/08; B25J9/00; B25J9/16; B25J9/1628; B25J9/1633; B25J9/1638
Claims Analysis
Total Claims: 8
Claim 1
Independent Claim
190 words
A control system for manipulator apparatus having a manipulator arm and a predetermined geometrical configuration and structure controllable in a plurality of axes, each controllable axis including drive arrangements (e.g. Fig. 6) for moving the manipulator structure in each of the respective axes, said manipulator structure having compliance intermediate the outer portions of the manipulator arm and inner portions of the manipulator arm proximate the drive arrangements, said control system including: means (1/.997, Fig. 11) for generating a feedback signal (9 1 ) representing the velocity of the manipulator arm in at least one controllable axis, said feedback signal being sensed at a point between said compliance and said drive arrangement, and means (1/200, Fig. 11) for generating a drive signal (Δ P L ) representing the torque of the drive arrangement applied to the manipulator structure in said one controllable axis,characterized by the provision of means (Fig. 10) responsive to said feedback signal (9 1 ) and said drive signal (Δ P L ) for generating a synthesized feedback signal (9 2 )representing the velocity of the manipulator arm in said one axis at a point after said compliance.
Claim 2
Dependent Claim
190 words
A control system for manipulator apparatus having a manipulator arm and a predetermined geometrical configuration and structure controllable in a plurality of axes, each controllable axis including drive arrangements (e.g. Fig. 6) for moving the manipulator structure in each of the respective axes, said manipulator structure having compliance intermediate the outer portions of the manipulator arm and inner portions of the manipulator arm proximate the drive arrangements, said control system including: means (1/.997, Fig. 11) for generating a feedback signal (9 1 ) representing the velocity of the manipulator arm in at least one controllable axis, said feedback signal being sensed at a point between said compliance and said drive arrangement, and means (1/200, Fig. 11) for generating a drive signal (Δ P L ) representing the torque of the drive arrangement applied to the manipulator structure in said one controllable axis,characterized by the provision of means (Fig. 10) responsive to said feedback signal (9 1 ) and said drive signal (Δ P L ) for generating a synthesized feedback signal (9 2 )representing the velocity of the manipulator arm in said one axis at a point after said compliance.
Claim 3
Dependent Claim
65 words
The control system of claim 1 further comprising means ( F ig. 11) for providing command signals ( c ) representing desiredwork movements of the manipulator arm, and means ( e ) responsive to said command signals (9 c ) and said synthesized feedback signal (9 2 ) for moving said manipulator arm in accordance with said desired work movements represented by said command signals.
Claim 4
Dependent Claim
30 words
The control system of claim 2 wherein said command signals (P c and V c , Fig. 12) represent manipulator arm position and velocity in at least said one axis.
Claim 5
Dependent Claim
34 words
The control system of claim 2 wherein said command signal providing means further comprises means (Fig. 13) for providing predetermined controlled deceleration characteristics (204,200, Fig. 14b) for the manipulator arm between predetermined arm movements.
Claim 6
Dependent Claim
21 words
The control system of claim 4 wherein said predetermined controlled deceleration characteristics is a constantly decreasing deceleration rate (200, Fig. 14b).
Claim 7
Independent Claim
175 words
A method for controlling a manipulator having a manipulator arm controllable in a plurality of axes and a driven support structure for the manipulator arm, the method comprising the steps of: generating command signals representing at least the desired velocity (V ) of the manipulator arm along at least a first axis (Fig. 6) at a predetermined point on the manipulator structure, said manipulator structure including compliance intermediate said predetermined point and the driven point of the support structure; synthesizing (Fig. 10) feedback signals (9 2 ) corresponding to the velocity of the manipulator arm in at least said first axis at said predetermined point on the manipulator structure in response to measured velocity signals ( 1 ) from the manipulator structure derived from measurement at a point closer to the driven point of the support structure than said predetermined point and before said compliance; and controlling movement of the manipulator arm in a servo loop (Fig. 7) in accordance with the synthesized feedback signals (8 2 ) and the command signals (V c ).
Claim 8
Independent Claim
175 words
A method for controlling a manipulator having a manipulator arm controllable in a plurality of axes and a driven support structure for the manipulator arm, the method comprising the steps of: generating command signals representing at least the desired velocity (V ) of the manipulator arm along at least a first axis (Fig. 6) at a predetermined point on the manipulator structure, said manipulator structure including compliance intermediate said predetermined point and the driven point of the support structure; synthesizing (Fig. 10) feedback signals (9 2 ) corresponding to the velocity of the manipulator arm in at least said first axis at said predetermined point on the manipulator structure in response to measured velocity signals ( 1 ) from the manipulator structure derived from measurement at a point closer to the driven point of the support structure than said predetermined point and before said compliance; and controlling movement of the manipulator arm in a servo loop (Fig. 7) in accordance with the synthesized feedback signals (8 2 ) and the command signals (V c ).
References Cited (Backward Citations)
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