Patent ID: 8620474
Filing Date: 2013-12-31
Classification: B25J,G05B

Abstract:
1. A method for controlling a robotic manipulator, comprising the steps of: storing a reference path(r determining reference increments (Δq providing a processor with a model of dynamics of said manipulator represented as a mathematical relation between positions of said manipulator, time derivatives of said positions, and device forces of said manipulator  and in said processor, automatically determining the reference increments based on said dynamics of the manipulator, represented in said model, while following the reference path, by determining a reference motion [Δr when drive forces that are necessary to realize a reference motion [Δr emitting a control signal at an output of the processor that controls movement of said manipulator with respect to said path; wherein M is a mass matrix; q(t) is a vector of reference positions in joint coordinates; h is a vector embodying weight, gyroscopic, and frictional forces; τ is a vector of drive forces, (θ n