Systems and methods of coordination control for robot manipulation
First Claim
1. A method of controlling a robotic apparatus comprising a plurality of movable elements coupled to one another via one or more joints defining one or more degrees of freedom of movement for each of the movable elements, at least one of said movable elements comprising a mobile base for the apparatus, the control method comprising:
- receiving input signals indicating a desired position or motion constraint for at least one of the movable elements;
generating, based on the input signals, a plurality of control signals to control movement of the mobile base and at least one other movable element to achieve the desired motion by optimizing a pre-defined scalar function of the motion and positions of the movable elements and the mobile base;
applying the control signals to the mobile base and the at least one other movable element to concurrently move the mobile base and the at least one other movable element to effect the desired motion;
wherein the pre-defined scalar function is defined by;
μ
=½
{dot over (q)}TW{dot over (q)}+α
{dot over (q)}TF, where q is a n-length vector representation of the positions of the one or more joints and the mobile base;
with {dot over (q)} being its time derivative (change in position over time);
W is a matrix function W(q);
F is a vector function of configuration; and
α
is a scalar function of configuration; and
wherein W, F and α
are selected to define a control strategy for controlling the robotic apparatus.
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Accused Products
Abstract
Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.
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Citations
21 Claims
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1. A method of controlling a robotic apparatus comprising a plurality of movable elements coupled to one another via one or more joints defining one or more degrees of freedom of movement for each of the movable elements, at least one of said movable elements comprising a mobile base for the apparatus, the control method comprising:
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receiving input signals indicating a desired position or motion constraint for at least one of the movable elements; generating, based on the input signals, a plurality of control signals to control movement of the mobile base and at least one other movable element to achieve the desired motion by optimizing a pre-defined scalar function of the motion and positions of the movable elements and the mobile base; applying the control signals to the mobile base and the at least one other movable element to concurrently move the mobile base and the at least one other movable element to effect the desired motion; wherein the pre-defined scalar function is defined by;
μ
=½
{dot over (q)}TW{dot over (q)}+α
{dot over (q)}TF,where q is a n-length vector representation of the positions of the one or more joints and the mobile base;
with {dot over (q)} being its time derivative (change in position over time);
W is a matrix function W(q);
F is a vector function of configuration; and
α
is a scalar function of configuration; andwherein W, F and α
are selected to define a control strategy for controlling the robotic apparatus. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification