Robot control
AssigneeKUKA Deutschland GmbH
InventorsJuan David Munoz Osorio, Abdelrahman Abdelazim
Life of this patent
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Abstract
A method to control a robot to perform at least one Cartesian or joint space task comprises using quadratic programming to determine joint forces, in particular joint torques, and/or joint accelerations of said robot based on at least one cost function which depends on said task.
Claims18
A method for controlling a robot to perform at least one Cartesian or joint space task, the robot comprising a plurality of links connected by joints, the method comprising:
- determining with a computer, at least one of joint forces or joint accelerations of the robot using quadratic programming and based on at least one cost function which depends on at least one first Cartesian or joint space task;
- and
- controlling the robot with the computer to perform the at least one first task based on the determined joint forces or joint accelerations.
A system for controlling a robot to perform at least one Cartesian or joint space task, the system comprising:
- means including a microprocessor for determining at least one of joint forces or joint accelerations of the robot using quadratic programming and based on at least one cost function which depends on the at least one first task;
- and
- means including a microprocessor for controlling the robot to perform the at least one first task based on the at least one determined joint forces or joint accelerations.
A computer program product for controlling a robot to perform at least one Cartesian or joint space task, the computer program product comprising program code stored on a non-transitory, computer-readable medium, the program code, when executed by a computer, causing the computer to:
- determine at least one of joint forces or joint accelerations of the robot using quadratic programming and based on at least one cost function which depends on the at least one first task;
- and
- control the robot to perform the at least one first task based on the at least one determined joint forces or joint accelerations.
Dependencies are inferred from the claim text.