System and method for controlling an operation of a manipulation system
US12343875B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 22, 2023 |
| Grant date | Jul 1, 2025 |
| Priority date | — |
| Expiry date | Jan 4, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42065
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present disclosure provides a system and a method for controlling an operation of a manipulation system. The method comprises formulating an optimization problem based on a Stochastic Discrete-time Linear Complementarity Model (SDLCM) of a manipulation task, and a sample average approximation; solving the formulated optimization problem using an important-particle algorithm to compute an optimal state trajectory, an optimal feedforward control trajectory, an optimal complementarity variable trajectory, a state feedback gain, and a complementarity feedback gain; collecting, measurements indicative of a current state trajectory and a current complementarity variable trajectory; determining an online control input based on the optimal feedforward control trajectory, a deviation of the current state trajectory from the optimal state trajectory, a deviation of the current complementarity variable trajectory from the optimal complementarity variable trajectory, the state feedback gain, and the complementarity feedback gain; and controlling actuators of the manipulation system according to the online control input.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.