The controller also possesses non-linear damping property and adapts to a wide range of loads without having to adjust the gain. The force-following capability eliminates the need for using traditional teach pendants for trajectory planning and facilitates the teaching process for task planning. Furthermore, the stiffness and damping characteristics of the controller are programmable. The force-following and absorbing, as well as compliant capabilities have been demonstrated. The controller has been implemented to control a PUMA 560 robot.
Patent application is in progress.
Northwestern is seeking commercial partners with the desire and resources to develop and commercialize this technology to its fullest commercial potential.