Acceleration of direct and indirect kinematics
AssigneePhysik Instrumente (Pi) GmbH & Co. KG
InventorErik Mankin
Life of this patent
Estimating the term…
Abstract
A kinematic system is provided having a more efficient calculation of the direct and/or indirect kinematics. The direct/indirect kinematics of a kinematic system are estimated on the basis of local support points. In particular, when estimating the indirect kinematics, an interpolation is used which, for poses in a determined spatial unit, is based on predetermined configuration vectors which are each associated with a boundary point of the determined spatial unit in accordance with the indirect kinematics. When estimating the direct kinematics, an interpolation is used which, for configuration vectors in the determined spatial unit, is based on predetermined poses of the kinematic system which are each associated with a boundary point of the determined spatial unit in accordance with the direct kinematics.
Claims15
A method for controlling a kinematic system, the method comprising:
- determining, from a plurality of prespecified spatial units of the work space of the kinematic system, a spatial unit in which a target pose of the kinematic system is located;
- estimating a configuration vector of the kinematic system associated with the target pose in accordance with indirect kinematics, wherein:
- the estimating is performed in accordance with an interpolation of the indirect kinematics, and
- the interpolation for poses in the determined spatial unit is based on predetermined configuration vectors, each of which is associated with a boundary point of the determined spatial unit in accordance with the indirect kinematics;
- determining a target configuration vector using the estimated configuration vector;
- and
- actuating the kinematics with the target configuration vector,
- wherein the boundary points with which the predetermined configuration vectors are associated include or are the corner points of the prespecified spatial units.
A method for controlling a kinematic system, the method comprising:
- ascertaining a current configuration vector of the kinematic system;
- determining, from a plurality of prespecified spatial units of the configuration space of the kinematic system, a spatial unit in which the ascertained configuration vector is located;
- estimating a current pose of the kinematic system that is associated with the ascertained configuration vector in accordance with direct kinematics, wherein
- the estimating is performed in accordance with an interpolation of the indirect kinematics, and
- the interpolation for configuration vectors in the determined spatial unit is based on predetermined poses of the kinematic system, each of which is associated with a boundary point of the determined spatial unit in accordance with the direct kinematics;
- determining a current pose using the estimated pose;
- and
- outputting the determined current pose,
- wherein the boundary points with which the predetermined configuration vectors are associated include or are the corner points of the prespecified spatial units.
A control device for controlling a kinematic system, wherein said control device is configured to:
- determine, from a plurality of prespecified spatial units of the work space of the kinematic system, a spatial unit in which a target pose of the kinematic system is located;
- estimating a configuration vector of the kinematic system associated with the target pose in accordance with indirect kinematics, wherein:
- the estimating is performed in accordance with an interpolation of the indirect kinematics;
- and
- the interpolation for poses in the determined spatial unit is based on predetermined configuration vectors, each of which is associated with a boundary point of the determined spatial unit in accordance with the indirect kinematics;
- determine a target configuration vector using the estimated configuration vector;
- and
- actuating the kinematic system with the target configuration vector,
- wherein the boundary points with which the predetermined poses are vectors include or are the corner points of the prespecified spatial units.
A control device for controlling a kinematic system, wherein said control device is configured to:
- ascertain a current configuration vector of the kinematic system;
- determine, from a plurality of prespecified spatial units of the configuration space of the kinematic system, a spatial unit in which the ascertained configuration vector is located;
- estimate a current pose of the kinematic system that is associated with the ascertained configuration vector in accordance with direct kinematics, wherein
- the estimating is performed out in accordance with an interpolation of the indirect kinematics, and
- the interpolation for configuration vectors in the determined spatial unit is based on predetermined poses of the kinematic system, each of which is associated with a boundary point of the determined spatial unit in accordance with the direct kinematics;
- determine a current pose using the estimated pose;
- and
- outputting the determined current pose,
- wherein the boundary points with which the predetermined poses are associated include or are the corner points of the prespecified spatial units.
Dependencies are inferred from the claim text.