IMITATION LEARNING METHOD FOR A MULTI-AXIS MANIPULATOR

摘要

The present invention concerns an imitation learning method for a multi-axis manipulator (7,7′). This method comprises the steps of capturing, at a set of successive waypoints (10,11) in a teach-in trajectory (4) of a user-operated training tool, spatial data comprising position and orientation of the training tool (3) in a Cartesian space; selecting, from among said set of successive waypoints (10,11), a subset of waypoints (11) starting from a first waypoint (11) of said set of successive waypoints (10,11), wherein for each subsequent waypoint (11) to be selected a difference in position and/or orientation with respect to a last previously selected waypoint (11) exceeds a predetermined threshold; fitting a set trajectory (4′) in said Cartesian space to said selected subset of waypoints (11); and converting said set trajectory into motion commands in a joint space of said multi-axis manipulator (7,7′).

主权项

1. An imitation learning method for a multi-axis manipulator, comprising the steps of:
capturing, at a set of successive waypoints in a teach-in trajectory of a user-operated training tool, spatial data comprising position and orientation of the training tool in a Cartesian space; selecting, from among said set of successive waypoints, a subset of waypoints starting from a first waypoint of said set of successive waypoints, wherein for each subsequent waypoint to be selected a difference in position and/or orientation with respect to a last previously selected waypoint exceeds a predetermined threshold; fitting a set trajectory in said Cartesian space to said selected subset of waypoints; and converting said set trajectory into motion commands in a joint space of said multi-axis manipulator.