Leland Stanford Junior University

Peter Thaulad

Oussama Khatib

Jaehoung Park

Torque control capability is provided to a position controlled robot by calculating joint position inputs from transformation of the desired joint torques. This is based on calculating the transfer function 1/E(s), which relates the desired joint torque to joint position. Here E(s) is a servo transfer function D(s) or an effective servo transfer function D*(s). The use of an effective servo transfer function D*s) is helpful in cases where joint nonlinearities are significant. The effective servo transfer function D*(s) is defined with respect to an ideal joint transfer function G*(s)=1/(Is+bs), where Iis an effective moment of inertia and bis an effective damping coefficient.

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Santa Clara, CA, United States of America

Peter Thaulad