Controlling the trajectory of an effector
US8509951B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | May 22, 2006 |
| Grant date | Aug 13, 2013 |
| Priority date | — |
| Expiry date | Oct 23, 2030 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1607
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The invention refers to a method for controlling the effector trajectory from a current state to a target state. First invariant control parameters of the trajectory are determined. The effector trajectory is then represented in a task description being void of the invariant control parameters. The effector trajectory is controlled on the basis of this task description. The invention further refers to a method for controlling the effector trajectory wherein the effector trajectory is calculated by mapping increments from a control parameter space on a configuration space. The dimensional difference between the configuration space and the control parameter space leaves redundant degrees of freedom of a Null space. The degrees of freedom of the Null space are increased using a task description being void of invariant control parameters. The invention further refers to a respective computer software program product, a manipulator, an actuated camera system, a robot comprising one or more manipulators and an automobile equipped with a driver support system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.