Kinematic Predictor for Articulated Mechanisms
First Claim
1. A predictor system for an articulated linkage providing a system of links connected by joints including at least one ground link referenced to a global ground reference, the predictor system comprising:
- an electronic computer executing a stored program held in non-transitory media to;
(1) store a system of differential equations describing a rate of change in a joint state, each joint as a function of other joint states, the joint states describing positions of the joints and held as joint state variables, where the joints include at least one work joint;
(2) expand the joint state variables of the system of differential equations with power series representations of the joint state variables;
(3) receive an input describing a trajectory of at least one joint state variable of the at least one work joint;
(4) determine values of multiple orders of coefficients of the power series representations of the state variables for joints other than the at least one work joint satisfying a linear relationship among power series coefficients for the state variables; and
(5) output data describing displacement of the joints other than the at least one work joint necessary to produce the input trajectory of the joint state variable of the at least one work joint.
1 Assignment
0 Petitions
Accused Products
Abstract
A predictor usable for rapid and accurate calculation of joint commands of an articulated mechanism describes relationship between the joints in the form of a differential equation. The predictor solves this differential equation by direct substitution of a power series for each of its variables and the combining of selected sets of coefficients of these power series into linear systems of equations which may be solved to determine power series coefficients to arbitrary order.
-
Citations
19 Claims
-
1. A predictor system for an articulated linkage providing a system of links connected by joints including at least one ground link referenced to a global ground reference, the predictor system comprising:
-
an electronic computer executing a stored program held in non-transitory media to; (1) store a system of differential equations describing a rate of change in a joint state, each joint as a function of other joint states, the joint states describing positions of the joints and held as joint state variables, where the joints include at least one work joint; (2) expand the joint state variables of the system of differential equations with power series representations of the joint state variables; (3) receive an input describing a trajectory of at least one joint state variable of the at least one work joint; (4) determine values of multiple orders of coefficients of the power series representations of the state variables for joints other than the at least one work joint satisfying a linear relationship among power series coefficients for the state variables; and (5) output data describing displacement of the joints other than the at least one work joint necessary to produce the input trajectory of the joint state variable of the at least one work joint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
-
-
14. A method of predicting motion of an articulated linkage, the articulated linkage providing a system of links connected by joints including at least one ground link referenced to a global ground reference, the method comprising the steps of executing a program stored in non-transitory medium on an electronic computer to:
-
(1) store a system of differential equations describing a rate of change in a joint state, each joint as a function of other joint states, the joint states describing positions of the joints and held as joint state variables, where the joints include at least one work joint; (2) expand the joint state variables of the system of differential equations with power series representations of the joint state variables; (3) receive an input describing a trajectory of at least one joint state variable of the at least one work joint; (4) determine values of multiple orders of coefficients of the power series representations of the state variables for joints other than the at least one work joint satisfying a linear relationship among power series coefficients for the state variables; and (5) output data describing displacement of the joints other than the at least one work joint necessary to produce the input trajectory of the joint state variable of the at least one work joint. - View Dependent Claims (15, 16, 17, 18, 19)
-
Specification