Constrained Resolved Acceleration Control
First Claim
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1. A computer-implemented method for controlling an articulated system, the method comprising:
- receiving a task descriptor specifying a movement of a body segment of the articulated system;
estimating kinematics of the body segment of the articulated system;
constructing a weighted matrix based on the estimated kinematics of the body segment;
generating a joint command for a joint associated with the body segment based on the weighted matrix, wherein the joint command controls an acceleration of the body segment and enforces one or more kinematic constraints of the articulated system; and
controlling the joint associated with the body segment using the joint command.
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Abstract
A system, method, and computer program product for controlling an articulated system are described. The system estimates kinematics of body segments of the articulated system and constructs a weighted pseudo-inverse matrix to enforce kinematic constraints as well as achieve dynamic consistency based on the estimated kinematics. The system converts task descriptors to joint commands using the weighted pseudo-inverse matrix and controls the articulated system at both the velocity level and the acceleration level and enforces kinematic constraints using the joint commands.
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20 Claims
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1. A computer-implemented method for controlling an articulated system, the method comprising:
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receiving a task descriptor specifying a movement of a body segment of the articulated system; estimating kinematics of the body segment of the articulated system; constructing a weighted matrix based on the estimated kinematics of the body segment; generating a joint command for a joint associated with the body segment based on the weighted matrix, wherein the joint command controls an acceleration of the body segment and enforces one or more kinematic constraints of the articulated system; and controlling the joint associated with the body segment using the joint command. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A non-transitory computer-readable storage medium containing executable computer program code for performing a method for controlling an articulated system, the method comprising:
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receiving a task descriptor specifying a movement of a body segment of the articulated system; estimating kinematics of the body segment of the articulated system; constructing a weighted matrix based on the estimated kinematics of the body segment; generating a joint command for a joint associated with the body segment based on the weighted matrix, wherein the joint command controls an acceleration of the body segment and enforces one or more kinematic constraints of the articulated system; and controlling the joint associated with the body segment using the joint command. - View Dependent Claims (12, 13, 14, 15)
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16. A system for controlling an articulated system, the system comprising:
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a computer processor for executing executable computer program code; a computer-readable storage medium containing the executable computer program code for performing a method comprising; receiving a task descriptor specifying a movement of a body segment of the articulated system; estimating kinematics of the body segment of the articulated system; constructing a weighted matrix based on the estimated kinematics of the body segment; generating a joint command for a joint associated with the body segment based on the weighted matrix, wherein the joint command controls an acceleration of the body segment and enforces one or more kinematic constraints of the articulated system; and controlling the joint associated with the body segment using the joint command. - View Dependent Claims (17, 18, 19, 20)
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Specification