US 11,717,962 B2 · Method for controlling movement of a robot

Abstract

A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}refk−J{dot over (q)}refk∥Wx) between the target speed vector ({dot over (x)}ref) and an actual speed vector ({dot over (x)}act) calculated from actual rotation speeds of the joints; and ii) a rate of change ( 1 T S ⁢  q . ref k - q . ref k - 1  W a ) of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}ref) determined in step (b) as target rotation speeds of the joints.

Claims9

Dependent claims

A method for controlling movement of a robot comprising a plurality of links connected by rotatably driven joints, the method comprising the steps of:

a) defining a target speed vector of a reference point of the robot in Cartesian space;
b) determining rotation speeds ({dot over (q)}ref) of the joints which minimize a weighted sum, the weighted sum having for summands
i) a discrepancy ((∥{dot over (x)}refk−J{dot over (q)}refk∥Wx) between the target speed vector ({dot over (x)}ref) and an actual speed vector ({dot over (x)}act) calculated from actual rotation speeds of the joints;
and
ii) a rate of change
(
1
T
S
⁢

q
.
ref
k
-
q
.
ref
k
-
1

W
a
)
of the target rotation speeds;
and
c) setting the rotation speeds ({dot over (q)}ref) determined in step (b) as target rotation speeds of the joints.

26 more elements

Dependencies are inferred from the claim text.

Method for controlling movement of a robot

Life of this patent

Method for controlling movement of a robot

Life of this patent

Abstract

Claims9