Acceleration of direct and indirect kinematics

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.

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.

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.

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.