Uncalibrated dynamic mechanical system controller
US6278906A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jan 27, 2000 |
| Grant date | Aug 21, 2001 |
| Priority date | — |
| Expiry date | Jan 27, 2020 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39397
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
An apparatus and method for enabling an uncalibrated, model independent controller for a mechanical system using a dynamic quasi-Newton algorithm which incorporates velocity components of any moving system parameter(s) is provided. In the preferred embodiment, tracking of a moving target by a robot having multiple degrees of freedom is achieved using an uncalibrated model independent visual servo control. Model independent visual servo control is defined as using visual feedback to control a robot's servomotors without a precisely calibrated kinematic robot model or camera model. A processor updates a Jacobian and a controller provides control signals such that the robot's end effector is directed to a desired location relative to a target on a workpiece.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.