Processing method for capturing movement of an articulated structure

US8890875B2 · kind B2 · utility

Assignees

• COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES · FR
• INRIA—INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE · FR

Inventors

• Fabien Jammes · Les Granges de Brison, FR
• Bruno Flament · Voiron, FR
• Pierre-Brice Wieber · Grenoble, FR

Key dates

• Filing date: Apr 23, 2008
• Grant date: Nov 18, 2014
• Expiry date: May 14, 2032

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J9/1664
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method of obtaining simulated parameters ( pos(t), vit(t), acc(t), par(t)) able to characterize the movement of an articulated structure provided with sensors, characterized in that the method comprises the following steps: calculating, from estimated movement state parameters of the structure, estimated measurement data ( H(t), γ(t)), each estimated measurement data item corresponding to a measurement delivered by a sensor, difference between the measurements delivered by the sensors and the estimated measurement data that correspond to them, global mathematical processing of the observer type of the data issuing from the difference in order to obtain at least one estimated difference for an estimated movement state parameter, and adding the estimated difference for the estimated movement state parameter and the estimated movement state parameter that corresponds to it in order to form a simulated parameter.