System and method of estimating joint loads in a three-dimensional system
AssigneeHonda Motor Co., Ltd.
InventorBehzad Dariush
Life of this patent
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Abstract
A method for estimating joint load at a joint of a segment. The method comprises the steps of receiving kinematic data, determining a modified acceleration using at least the kinematic data, estimating a joint load using at least the modified acceleration; and determining simulated kinematic data for the segment using at least the joint load. The method addresses the problems with conventional inverse dynamics analysis by providing a forward dynamics solution for estimation of joint loads that is stable, guaranteed to converge, computationally efficient, and does not require acceleration computations. According to one embodiment, a joint load is estimated recursively.
Claims17
A computer based method for automatically estimating a joint load at a joint of a physical segment, comprising the steps of:
- receiving, at the computer, kinematic data representing a three-dimensional system;
- determining, by the computer, a modified acceleration using at least said kinematic data;
- estimating, by the computer, the joint load using at least said modified acceleration;
- and
- determining, by the computer, simulated kinematic data for the segment using at least the joint load.
A computer based system for automatically estimating a joint load at a joint of a physical segment, comprising:
- means for receiving kinematic data representing a three-dimensional system;
- first determining means for determining a modified acceleration using at least said kinematic data;
- means for estimating the joint load using at least said modified acceleration;
- and
- second determining means for determining simulated kinematic data for the segment using at least the joint load.
Dependencies are inferred from the claim text.