Method, computer program, and apparatus for controlling a plurality of joints of a robot based on a desired joint state

Abstract

Examples relate to a method, a computer program, and an apparatus for controlling a plurality of joints of a robot based on a desired joint state. The method for controlling a plurality of joints of a robot based on a desired joint state comprises obtaining information on the desired joint state; obtaining information on a current joint state; filtering the desired joint state based on the information on the current joint state and based on state constraints of the robot to obtain information on a filtered desired joint state, wherein the filtered desired joint state complies to the state constraints; and providing the information on the filtered desired joint states to control the joints of the robot.

Dependencies are inferred from the claim text.