Model-less control for flexible manipulators
US9488971B2 · kind B2 · utility
6Cited by
6References
22Claims
0Family size
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Key dates
| Filing date | Mar 5, 2014 |
| Grant date | Nov 8, 2016 |
| Priority date | — |
| Expiry date | Jan 8, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45117
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A control method includes empirically constructing for a flexible manipulator an estimated mapping between an end-effector movement and a plurality of values representing movement of at least one actuator, measuring an actual end-effector movement and an actual movement of the at least one actuator, and, based on the measuring, updating the estimated mapping while the flexible manipulator is active such that the mapping is adapted to the present environment of the flexible manipulator.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.