Method for suppressing vibration of control signal for force control, computer device and readable storage medium
AssigneesShanghai Flexiv Robotics Technology Co., Ltd., Flexiv Ltd.
InventorsXiyang YEH, Poyen CHEN, Yaohua NIE
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Abstract
A method for suppressing vibration of a control signal for force control includes: acquiring a first output signal of a force sensing device, the first output signal including at least one of a force signal and a torque signal; processing, by an analog differential circuit, the first output signal to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal; and suppressing, by using the second output signal, vibration of the control signal for force control.
Claims11
A method for suppressing vibration of a control signal for force control, the method comprising:
- acquiring a first output signal of a force sensing device, the first output signal comprising at least one of a force signal and a torque signal;
- processing, by an analog differential circuit, the first output signal to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal;
- and
- suppressing, by using the second output signal, vibration of the control signal for force control.
A computer device comprising a processor and a memory storing processor-executable instructions, wherein the processor-executable instructions, when executed by the processor, cause the processor to:
- acquire a first output signal of a force sensing device, the first output signal comprising at least one of a force signal and a torque signal;
- process, by an analog differential circuit, the first output signal to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal;
- and
- suppressing, by using the second output signal, vibration of a control signal for force control.
A non-temporary computer-readable storage medium storing processor-executable instructions, wherein the processor-executable instructions, when executed by a processor, cause the processor to:
- acquire a first output signal of a force sensing device, the first output signal comprising at least one of a force signal and a torque signal;
- process, by an analog differential circuit, the first output signal to obtain a second output signal corresponding to a differential component of at least one of the force signal and the torque signal;
- and
- suppressing, by using the second output signal, vibration of a control signal for force control.
Dependencies are inferred from the claim text.