Dynamic planning controller
US12070863B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 29, 2022 |
| Grant date | Aug 27, 2024 |
| Priority date | — |
| Expiry date | Aug 29, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40444
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A dynamic planning controller receives a maneuver for a robot and a current state of the robot and transforms the maneuver and the current state of the robot into a nonlinear optimization problem. The nonlinear optimization problem is configured to optimize an unknown force and an unknown position vector. At a first time instance, the controller linearizes the nonlinear optimization problem into a first linear optimization problem and determines a first solution to the first linear optimization problem using quadratic programming. At a second time instance, the controller linearizes the nonlinear optimization problem into a second linear optimization problem based on the first solution at the first time instance and determines a second solution to the second linear optimization problem based on the first solution using the quadratic programming. The controller also generates a joint command to control motion of the robot during the maneuver based on the second solution.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.