Simulation-in-the-loop tuning of robot parameters for system modeling and control
US11975451B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 27, 2021 |
| Grant date | May 7, 2024 |
| Priority date | — |
| Expiry date | Jan 5, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40515
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A system for parameter tuning for robotic manipulators is provided. The system includes an interface configured to receive a task specification, a plurality of physical parameters, and a plurality of control parameters, wherein the interface is configured to communicate with a real-world robot via a robot controller. The system further includes a memory to store computer-executable programs including a robot simulation module, a robot controller, and an auto-tuning module a processor, in connection with the memory. In this case, the processor is configured to acquire, in communication with the real-world robot, state values of the real-world robot, state values of the robot simulation module, simultaneously update, by use of a predetermined optimization algorithm with the auto-tuning module, an estimate of one or more of the physical, and said control parameters, and store the updated parameters.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.