Dynamical system-based robot velocity control
US9381643B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 3, 2014 |
| Grant date | Jul 5, 2016 |
| Priority date | — |
| Expiry date | Sep 9, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/19
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic system includes an end-effector and a control system. The control system includes a processor, a dynamical system module (DSM), and a velocity control module (VCM). Via execution of a method, the DSM processes inputs via a flow vector field and outputs a control velocity command. The inputs may include an actual position, desired goal position, and demonstrated reference path of the end-effector. The VCM receives an actual velocity of the end-effector and the control velocity command as inputs, and transmits a motor torque command to the end-effector as an output command. The control system employs a predetermined set of differential equations to generate a motion trajectory of the end-effector in real time that approximates the demonstrated reference path. The control system is also programmed to modify movement of the end-effector in real time via the VCM in response to perturbations of movement of the end-effector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.