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Self-calibrating orienting system for a manipulating device

  • US 7,509,177 B2
  • Filed: 04/08/2005
  • Issued: 03/24/2009
  • Est. Priority Date: 04/16/2004
  • Status: Expired due to Fees
First Claim
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1. A method for controlling an orienting/positioning system, the orienting/positioning system comprising at least a sensor and an actuator for controlling at least one of an orienting action and a positioning action adapted to change an input space of the sensor, the method comprising the steps of:

  • (S1) evaluating pre-action output information of the sensor in order to detect a pre-action position of a manipulating device in the input space of the sensor;

    (S2) determining a targeted post-action position of the manipulating device in the input space of the sensor;

    (S3) defining a command for the actuator by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor to actuator control coordinates using a predefined mapping function;

    (S4) orienting the manipulating device by the actuator according to the defined command in order to carry out the orienting action;

    (S5) detecting a real post-action position of the manipulating device in the input space of the sensor; and

    (S6) adapting the mapping function used in step S3 based on any difference of the real post-action position and the targeted post-action position of the manipulating device in the input space of the sensor in order to carry out an incremental adaptive learning of the mapping function, said adapting comprising the steps of;

    determining a correction signal based on any difference of the real post-action position and the targeted position of the manipulating device in the input space of the sensor,adapting the mapping function taking into account the correction signal, the executed actuator command and the pre-action position of the manipulating device in the input space of the sensor,determining a confidence value based on a plausibility of the difference of the real post-action position and the targeted position of the manipulating device, andmodulating an adaptation vector with the confidence value such that an adaptation rate depends on the confidence value;

    wherein steps S1 to S6 are cyclically repeated at least once using the respectively adapted mapping function.

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