Robot and control method of optimizing robot motion performance thereof
First Claim
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1. A method of controlling a robot, the method comprising:
- forming a first bell-shaped velocity profile according to a start time and an end time of a motion of a joint of the robot;
calculating a value of an objective function having a limited condition according to the first bell-shaped velocity profile; and
driving the joint of the robot in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition,wherein the forming of the first bell-shaped velocity profile in response to the start time and the end time of the motion includes;
forming a trajectory of a center of gravity of the robot,wherein the limited condition includes a velocity of a joint, a torque of the joint, and a Zero Momentum Point (ZMP) of the robot.
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Abstract
A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.
14 Citations
20 Claims
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1. A method of controlling a robot, the method comprising:
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forming a first bell-shaped velocity profile according to a start time and an end time of a motion of a joint of the robot; calculating a value of an objective function having a limited condition according to the first bell-shaped velocity profile; and driving the joint of the robot in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition, wherein the forming of the first bell-shaped velocity profile in response to the start time and the end time of the motion includes; forming a trajectory of a center of gravity of the robot, wherein the limited condition includes a velocity of a joint, a torque of the joint, and a Zero Momentum Point (ZMP) of the robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A robot, comprising:
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an input unit to receive a motion command of a robot; and a controller to form a first bell-shaped velocity profile according to a start time and an end time of a motion of a joint of the robot and to calculate a value of an objective function having a limited condition according to the first bell-shaped velocity profile; and a driver to drive the joint of the robot in response to a specific second bell-shaped velocity profile that minimizes the objective function having the limited condition, wherein the controller forms a trajectory of a center of gravity of the robot, wherein the limited condition includes a velocity of a joint, a torque of the joint, and a Zero Momentum Point (ZMP) of the robot. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A method of controlling a robot, the method comprising:
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forming a plurality of first bell-shaped velocity profiles corresponding to a start time and an end time of motions of a plurality of joints of the robot; calculating a value of an objective function having a limited condition according to the first bell-shaped velocity profile; optimizing a plurality of second bell-shaped velocity profiles to minimize the objective function having the limited condition and to perform a dynamic motion of the robot, which includes moving the plurality of joints, based on the plurality of first bell-shaped velocity profiles; and driving the plurality of joints of the robot in response to the plurality of second bell-shaped velocity profiles that minimize an objective function having a limited condition, wherein the forming a plurality of the first bell-shaped velocity profiles corresponding to the start time and the end time of the motions of the plurality of joints of the robot includes; forming a trajectory of a center of gravity of the robot, wherein the limited condition includes a velocity of a joint, a torque of the joint, and a Zero Momentum Point (ZMP) of the robot.
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Specification