Unscented optimization and control allocation
US10065312B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 13, 2016 |
| Grant date | Sep 4, 2018 |
| Priority date | — |
| Expiry date | Apr 15, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39256
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The disclosure provides a robotic arm controller which determines a control parameter for at least one actuator comprising the robotic arm using a control equation having the general form Ax=b, where A is a transformation matrix A based on the geometry and Jacobian of the robotic arm, x is the control parameter x such as a torque vector at a specific joint, and b is the end effector parameter b which specifies a desired corrective state of the end effector. The methodology, by way of constructing and solving an unscented optimization problem, provides a solution to the Ax=b problem by perturbing at least one joint angle appearing in the Jacobian to generate a plurality of distributed joint angles, determining a control parameter x which minimizes an error function. In a particular embodiment, the error function is sum of residual squares, and the appropriate control parameter x is determined by minimizing the error function subject to a series of constraints Aix−b−zi=0, where each constraint arises by virtue of the error generated through use of a given joint angle in the plurality of distributed joint angles selected.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.