Robot, control system, and recording medium for control program
AssigneeHonda Motor Co., Ltd.
InventorYoshiki Kanemoto
Life of this patent
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Abstract
A system and the like capable of maintaining the continuity or smoothness in the motion of a controlled object. According to a control system 1 and a robot R, which is a controlled object thereof, of the present invention, a desired position trajectory is generated by performing an interpolation process of generating a line segment represented by a linear combination of point sequences disposed in a model space with a basis function for spatial interpolation as a coupling coefficient. Therefore, a line segment, which continuously and smoothly connects the starting point and the end point, represented by a linear combination of a plurality of points (control points), instead of a broken line passing through the plurality of points disposed in the model space.
Claims5
A control system for controlling the motion of a controlled object so as to displace the controlled object or a specified portion thereof according to a desired position trajectory defined in a model space representing a real space, the system comprising:
- a first arithmetic processing element configured to perform an extension process of generating a new line segment, where one line segment is extended by an extension line segment, by performing an interpolation process of generating a line segment represented by a linear combination of point sequences with a basis function for spatial interpolation as a coupling coefficient on the basis of the point sequences disposed distant from each other in the model space and performing the interpolation process with a new point sequence as a basis after defining the new point sequence by adding a point to the point sequence, which is the basis of the one line segment generated by the interpolation process;
- and
- a second arithmetic processing element configured to perform a connection process of generating a line segment in a form where the one line segment and another line segment are connected via a connection line segment as the desired position trajectory or a candidate therefor by performing the interpolation process with a basis of the new point sequence, which is the basis of the one line segment extended last by performing the extension process by the first arithmetic processing element, and another point sequence, which is the basis of another line segment generated by the interpolation process.
A recording medium for a control program causing a computer mounted on a controlled object to function as a system for controlling the motion of the controlled object so as to displace the controlled object or a specified portion thereof according to a desired position trajectory defined in a model space representing a real space,
- wherein the control program causes the computer to perform:
- a first arithmetic process of performing an extension process of generating a new line segment, where one line segment is extended by an extension line segment, by performing an interpolation process of generating a line segment represented by a linear combination of point sequences with a basis function for spatial interpolation as a coupling coefficient on the basis of the point sequences disposed distant from each other in the model space and performing the interpolation process with a new point sequence as a basis after defining the new point sequence by adding a point to the point sequence, which is the basis of the one line segment generated by the interpolation process;
- and
- a second arithmetic process of performing a connection process of generating a line segment in a form where the one line segment and another line segment are connected via a connection line segment as the desired position trajectory or a candidate therefor by performing the interpolation process with a basis of the new point sequence, which is the basis of the one line segment extended last by performing the extension process by the first arithmetic process, and another point sequence, which is the basis of another line segment generated by the interpolation process.
A robot, which has a body, limbs extended from the body, and a system for controlling the motion of the controlled object so as to displace the controlled object or a specified portion thereof according to a desired position trajectory defined in a model space representing a real space and which functions as the controlled object configured to perform a task by moving the limbs,
- wherein the control system includes:
- a first arithmetic processing element configured to perform an extension process of generating a new line segment, where one line segment is extended by an extension line segment, by performing an interpolation process of generating a line segment represented by a linear combination of point sequences with a basis function for spatial interpolation as a coupling coefficient on the basis of the point sequences disposed distant from each other in the model space and performing the interpolation process with a new point sequence as a basis after defining the new point sequence by adding a point to the point sequence, which is the basis of the one line segment generated by the interpolation process;
- and
- a second arithmetic processing element configured to perform a connection process of generating a line segment in a form where the one line segment and another line segment are connected via a connection line segment as the desired position trajectory or a candidate therefor by performing the interpolation process with a basis of the new point sequence, which is the basis of the one line segment extended last by performing the extension process by the first arithmetic processing element, and another point sequence, which is the basis of another line segment generated by the interpolation process.
Dependencies are inferred from the claim text.