公开(公告)号：US20090295324A1

公开(公告)日：2009-12-03

申请号：US12382245

申请日：2009-03-11

Applicant: Young Bo Shim ,  Yeon Taek Oh ,  Sukjune Yoon

Inventor： Young Bo Shim ,  Yeon Taek Oh ,  Sukjune Yoon

IPC: G05B19/404

CPC classification number: B25J9/1676 ,  G05B2219/39237 ,  G05B2219/40201

Abstract: Disclosed herein are a device and method of controlling a manipulator. The device includes a device to control a manipulator, including a sensing unit to sense a joint position and joint torque of the manipulator a disturbance estimator to estimate disturbance torque using a state space equation with respect to the manipulator having the sensed joint position and joint torque as input; and a controller to control the manipulator based on the estimated disturbance torque.

Abstract translation: 这里公开了一种控制机械手的装置和方法。 该装置包括用于控制操纵器的装置，其包括用于感测操纵器的关节位置和关节扭矩的感测单元，所述扰动估计器使用关于具有感测到的关节位置和关节扭矩的操纵器的状态空间方程来估计扰动扭矩 作为输入; 以及控制器，用于基于所估计的干扰转矩来控制所述操纵器。