| 摘要 |
<p>A compliant controller (10) implements a biological model of a primate muscle so as to provide simultaneous position and force control with nonlinear damping for an actuator (18). The compliant controller (10) uses one or more position sensors (14) but does not require the use of a force sensor to provide force control. The compliant controller (10) implements a force determining algorithm that is a function of an initial actuator position, a subsequently sensed actuator position, a desired actuator position and a position calculated from a nonlinear damping function. The algorithm updates or resets the initial actuator position or the calculated position depending upon the amount of actuator movement sensed. The compliant controller (10) in accordance with the force determining algorithm and resetting of the various position values allows a desired position to be quickly attained while allowing the controller (10) to compliantly respond to the presence or removal of an unknown or unexpected disturbing force.</p> |
