Abstract: A system, method, and computer program product are provided for training users how to operate handheld electronic devices and/or their respective applications, wherein the handheld electronic device may receive an expected input associated with an application executing on the handheld from a computing device. The handheld may then receive an actual input from a user of the handheld electronic device, compare the two inputs, and release the actual input from the user to the application if the inputs are substantially the same.

Abstract: A digital control provides adaptive feedforward torque control for a robot having a plurality of arm joints. An electric motor drives each of the robot arm joints and a power amplifier supplies drive current to each motor under controlled operation.Each joint motor has feedback control loop means including position and velocity control loops driving a torque control loop in accordance with position commands to generate motor commands for controlling the associated power amplifier. The motion of said joint motor generates position and velocity feedback signals respectively for combination with the position and velocity commands to generate an error signal as a torque command for each of the torque control loops from the corresponding position and velocity control loops. Load force is sensed at the endmost robot joint.

Abstract: A digital robot control is provided with position/velocity and torque control loops with microprocessor servo controllers in each. The position/velocity servo controller includes two microprocessors that operate as a servo engine in providing position/velocity control for six robot axes. One microprocessor operates as a manager to perform data processing and coordination tasks supportive to position/velocity control. The other microprocessor performs position and velocity servo calculation tasks and operates as a slave processor to the position/velocity control manager. The programming for the position/velocity control sends manager position and other commands and position and velocity feedback from other control levels to the position/velocity calculator and sends torque commands received from the calculator to the next lower control level. The calculator employs position/velocity control algorithms in making torque command calculations.