Method and apparatus for collision avoidance for a kinematic structure, and robotic system
AssigneeSony Group Corporation
InventorsSina MIRRAZAVI, Yannik NAGEL
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Abstract
Provided is a method of collision avoidance for a kinematic structure. The method comprises receiving pose data indicating a desired pose for the kinematic structure and time data indicating an update interval used to control the kinematic structure. Further, the method comprises performing a constrained optimization process on inverse kinematics of the desired pose in accordance with the time data to obtain for the respective update interval one or more kinematic chain parameters for a collision-free state of the kinematic structure. In addition, the method comprises generating control data for controlling the kinematic structure based on the one or more kinematic chain parameters.
Claims20
A method of collision avoidance for a kinematic structure, comprising:
- receiving pose data indicating a desired pose for the kinematic structure and time data indicating an update interval used to control the kinematic structure;
- performing a constrained optimization process on inverse kinematics of the desired pose in accordance with the time data to obtain for the respective update interval one or more kinematic chain parameters for a collision-free state of the kinematic structure;
- and
- generating control data for controlling the kinematic structure based on the one or more kinematic chain parameters.
An apparatus for controlling a kinematic structure, comprising:
- interface circuitry configured to receive pose data indicating a desired pose for the kinematic structure and time data indicating an update interval used to control the kinematic structure;
- and
- processing circuitry configured to:
- perform a constrained optimization process on inverse kinematics of the desired pose in accordance with the time data to obtain for the respective update interval one or more kinematic chain parameters for a collision-free state of the kinematic structure;
- and
- generate control data for controlling the kinematic structure based on the one or more kinematic chain parameters.
(canceled)
Dependencies are inferred from the claim text.