Controlling the trajectory of an effector

• US 20060293790A1
• Filed: 05/22/2006
• Published: 12/28/2006
• Est. Priority Date: 05/31/2005
• Status: Active Grant

• Current Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Original Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Inventors: Gienger, Michael
• Granted Patent: US 8,509,951 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1607 Calculation of inertia, jacobian matrixes and inverses
• CPC Class Codes: B25J 9/1643 redundant control

Abstract

The invention refers to a method for controlling the effector trajectory from a current state to a target state. First invariant control parameters of the trajectory are determined. The effector trajectory is then represented in a task description being void of the invariant control parameters. The effector trajectory is controlled on the basis of this task description. The invention further refers to a method for controlling the effector trajectory wherein the effector trajectory is calculated by mapping increments from a control parameter space on a configuration space. The dimensional difference between the configuration space and the control parameter space leaves redundant degrees of freedom of a Null space. The degrees of freedom of the Null space are increased using a task description being void of invariant control parameters. The invention further refers to a respective computer software program product, a manipulator, an actuated camera system, a robot comprising one or more manipulators and an automobile equipped with a driver support system.

Claims

1. A method for controlling the effector trajectory from a current state to a target state, the method comprising the steps of:

determining invariant control parameters of the trajectory;

representing the effector trajectory in a task description being void of the invariant control parameters; and

controlling the effector trajectory on the basis of this task description.

2. The method of claim 1 wherein the target state has a symmetry and the invariant control parameters are determined on the basis of this symmetry.

3. The method of claim 1, wherein the task description is based on an orthogonal coordinate frame that is defined by a current effector axis and a symmetry axis of the target state.

4. The method of claim 3, wherein the effector (9) comprises an effector axis that is to be rotated into the target state.

5. The method of claim 4, wherein the rotation of the current effector axis is described by a two dimensional task vector.

6. The method of claim 1, wherein the effector comprises an effector axis that is to be rotated into the target state.

7. The method of claim 1, wherein, the trajectory is invariant with respect to a rotation of an effector about its symmetry axis and the invariant control parameters are determined on the basis of this symmetry.

8. The method. of claim 7, wherein the effector has a symmetry axis that coincides with the trajectory.

9. The method of claim 1, for controlling a robot.

10. A computer software program product embodied on a computer readable medium for performing the method of claim 1 when run on a computing device.

11. An actuated camera system, having a computer software program for performing the method of claim 1.

12. A vehicle equipped with a driver support system comprising an actuated camera system, having a computer software programs for performing the method of claim 1.

13. A method for controlling the effector trajectory from a current state to a target state, wherein the effector trajectory is calculated by mapping increments from a control parameter space on the configuration space;

wherein the dimensional difference between configuration space and control parameter space leaving redundant degrees of freedom of a Null space, the method comprising the steps of;

determining invariant control parameters of the trajectory; and

increasing degrees-of freedom of the Null space of the trajectory control by using a task description being void of the invariant control parameters.

14. The method of claim 13, wherein the target state has a first symmetry and the invariant control parameters are determined on the basis of said first symmetry.

15. The method of claim 13, wherein the trajectory is invariant with respect to a rotation of an effector about its symmetry axis and the invariant control parameters are determined on the basis of the first symmetry.

16. The method of claim 13, for controlling a robot.

17. A computer software program product embodied on a computer readable medium for implementing the method of claim 13 when run on a computing device.

18. An actuated camera system, having a computer software program for performing the method of claim 13.

19. A vehicle equipped with a driver support system comprising an actuated camera system, having a computer software program for performing the method of claim 13.