Won Bo Dr Kim

Address:

1021 1/2 S Norton Ave, Los Angeles, CA 90019

Phone:

(213)2190846

VIN:

5J6YH18798L008105

Make:

HONDA

Model:

ELEMENT

Year:

2008

US Patent:

52392465, Aug 24, 1993

Filed:

Jul 8, 1992

Appl. No.:

7/912955

Inventors:

Won S. Kim - Northridge CA

Assignee:

The United States of America as represented by the Administrator of the
National Aeronautics and Space Administration - Washington DC

International Classification:

B25J 918
G05B 1919

US Classification:

31856811

Abstract:

Two classes of systems for force-reflecting control that enable high force-reflection gain are presented: position-error-based force reflection and low-pass-filtered force reflection, both combined with shared compliance control. In the position-error-based class, the position error between the commanded and the actual position of a compliantly controlled robot is used to provide force reflection. In the low-pass-filtered force reflection class, the low-pass-filtered output of the compliance control is used to provide force reflection. The increase in force reflection gain can be more than 10-fold as compared to a conventional high-bandwidth pure force reflection system, when high compliance values are used for the compliance control.