Patent Document ID: 4547858
Application ID: 06503921
Patent Flag: 1

Claim One:
1. In combination with a manipulator control system having a multiple link manipulator, a central processing unit having adequate storage and computational means for generating motion signals indicative of the desired motion of the manipulator links, a linear dynamic control loop for generating actuator signals controlling actuators moving the individual manipulator links, and sensors responsive to position and motion of said manipulator links for generating feedback signals to the central processing unit and the linear dynamic control loop, a nonlinear dynamics control loop for correcting the actuator signals for the nonlinear dynamics of the manipulator characterized by: nonlinear dynamics control computer means for generating correction factors for each of the actuators moving the manipulator links in response to the motion signals generated by the central processing unit and the feedback signals, said nonlinear dynamics control computer computing said correction factors for a predetermined number of manipulator links, using Lagrangian dynamics and computing correction factors for the remaining manipulator links using recursive Newton-Euler dynamics; and means for individually summing said correction factors with the associated actuator signals to generate corrected actuator signals, corrected for the nonlinear dynamics of the manipulator.