The invention is a method of operating a robot in successive sampling intervals to perform a task, the robot having joints and joint actuators with actuator control loops, by decomposing the task into behavior forces, accelerations, velocities and positions of plural behaviors to be exhibited by the robot simultaneously, computing actuator accelerations of the joint actuators for the current sampling interval from both behavior forces, accelerations velocities and positions of the current sampling interval and actuator velocities and positions of the previous sampling interval, computing actuator velocities and positions of the joint actuators for the current sampling interval from the actuator velocities and positions of the previous sampling interval, and, finally, controlling the actuators in accordance with the actuator accelerations, velocities and positions of the current sampling interval. The actuator accelerations, velocities and positions of the current sampling interval are stored for use during the next sampling interval.


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    Titel :

    Extended Task Space Control for Robotic Manipulators


    Beteiligte:
    Backes, Paul G. (Autor:in) / Long, Mark K. (Autor:in)

    Erscheinungsdatum :

    12.03.1996


    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :


    Extended-Task-Space Control For Robotic Manipulators

    Backes, Paul G. / Long, Mark K. | NTRS | 1993



    Constrained motion task control of robotic manipulators

    Mills, James K. | Online Contents | 1994


    Stability And Control Of Robotic Space Manipulators

    Skaar, Steven B. / Ruoff, Carl F. | AIAA | 1994