| 摘要 |
The present invention provides a method and control scheme to operate a motor-driven actuator. This includes determining actuator force on an external device, determining a command force, and monitoring actuator position. A determination is made whether to operate in a force-control mode or a position-control mode. Both the force-control mode and the position-control mode employ a common feedback control method (e.g. PI or PID). The system operates the actuator in the force-control mode, using actuator force as feedback to the control scheme when the controller determines that the force sensor is operating in its linear range. When the force sensor is operating outside or near the limits of its linear range, the control scheme determines a pseudo-force, comprising estimated force based upon measured position. The pseudo-force is input to the common feedback control method to control the actuator.
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