Patent ID: 7211979

Claim:
A robotic control method for a position controlled robot, the method comprising: a) determining a closed loop position transfer function T(s) of a selected joint of the robot relating a commanded input joint position Q in (s) to an actual joint position Q out (s) via Q out (s)=T(s)Q in (s); b) selecting a dynamic open loop joint torque to position transfer function H(s) relating to the selected joint; c) determining a corresponding effective servo transfer function E(s) of the selected joint according to E(s)=T(s)/(H(s)−T(s)H(s)); d) providing a desired dynamic torque τ des (s) of the selected joint; and e) determining Q in (s) of the selected joint corresponding to τ des (s) via Q in (s)=τ des (s)/(E(s)(1−T(s)).