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AssigneeCambridge Medical Robotics Limited
InventorsEdward John Mottram, Gordon Thomas Deane, Edward Tucker, Graham Veitch, Paul Christopher Roberts
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A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.
A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising:
A method as claimed in claim 9, wherein the first coordinate space is a non-Cartesian coordinate space;
A controller for a mechanical system having a plurality of components interlinked by a plurality of driven joints, the controller being configured to:
A non-transitory computer readable storage medium having stored thereon processor-executable instructions that, when executed at a computer system, cause the computer system to control a mechanical system having a plurality of components interlinked by a plurality of driven joints, the processor-executable instructions configured to cause the computer system to:
Dependencies are inferred from the claim text.