CPC B25J 9/1653 (2013.01) [A61B 34/30 (2016.02); B25J 9/12 (2013.01); B25J 15/0019 (2013.01); G05B 2219/34013 (2013.01); G05B 2219/39195 (2013.01)] | 18 Claims |
1. A method of controlling a linkage of a robot with a controller, the method comprising:
receiving a desired joint angle of a joint of the robot;
transmitting a first control signal to a motor to actuate the joint in response to a desired joint velocity, the desired joint velocity being a function of the desired joint angle and a current joint angle of the joint;
generating the desired joint velocity by calculating a phase shift of the joint based on a resonant frequency of the joint; and
upon the phase shift exceeding or equaling 180 degrees, determining a phase ratio, and adding the phase ratio to the first control signal.
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