Patent ID: 7986118
Filing Date: 2011-07-26
Classification: G05B

Abstract:
1. A method for controlling a joint of a robot, the joint having a position controller with a position feedback loop, the position controller having a velocity feedforward input configured to receive a desired velocity of the joint and a position input configured to receive a desired position of the joint, and the position controller configured to control motion of the joint to achieve the desired velocity and desired position, the method comprising: receiving, by a torque-to-velocity transformer, a torque command for the joint representing a desired torque of the joint; determining, a velocity feedforward command that when inputted to a velocity feedforward input of the position controller causes the position controller to control a physical joint of the robot to achieve the desired torque; sending the velocity feedforward command to the position controller; and sending a command to the position controller that cancels an effect of the position feedback loop.