The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 15, 2011
Filed:
Dec. 15, 2008
Matthew J. Reiland, Oxford, MI (US);
Robert Platt, Houston, TX (US);
Charles W. Wampler, Ii, Birmingham, MI (US);
Muhammad E. Abdallah, Houston, TX (US);
Brian Hargrave, Dickerson, TX (US);
Matthew J. Reiland, Oxford, MI (US);
Robert Platt, Houston, TX (US);
Charles W. Wampler, II, Birmingham, MI (US);
Muhammad E. Abdallah, Houston, TX (US);
Brian Hargrave, Dickerson, TX (US);
GM Global Technology Operations LLC, Detroit, MI (US);
The United States of America as represented by the Administrator of the National Aeronautics and Space Administrations, Washington, DC (US);
Abstract
A system and method for controlling tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints. The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear operation. The method calculates this torque error using sensed tendon tensions and a reference torque and internal tension. The method can be used to control joint impedance by calculating the reference torque based on a joint position error. The method limits minimum and maximum tendon tensions by projecting the torque error into the tendon tension space and then projecting ii back into joint space.