Object manipulation with collision avoidance using complementarity constraints
US11883962B2 · kind B2 · utility
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13Claims
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Key dates
| Filing date | May 28, 2021 |
| Grant date | Jan 30, 2024 |
| Priority date | — |
| Expiry date | Mar 12, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40517
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A controller controls a motion of an object performing a task for changing a state of the object from a start state to an end state while avoiding collision of the object with an obstacle according to an optimal trajectory determined by solving an optimization problem of the dynamics of the object producing an optimal trajectory for performing the task subject to constraints on a solution of first-order stationary conditions modeling a minimum distance between the convex hull of the object and the convex hull of the obstacle using complementarity constraints.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.