发明名称 |
MOBILE APPARATUS AND ROBOT, AND CONTROL SYSTEM THEREOF |
摘要 |
Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q1(k) and a second reference point q2 (k) in the time-space coordinate system is set to satisfy a first condition defined according to a motion performance of an actuator 2. When a previous trajectory candidate tr(k−1) is determined to have a contact with an object trajectory tro, a current positional relationship (k>1) between the first reference point q1(k) and the second reference point q2 (k) in the time-space coordinate system is set to satisfy a second condition that a current time interval between the first reference point q1(k) and the second reference point q2 (k) is longer than a previous time interval or the like.
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申请公布号 |
US2012150350(A1) |
申请公布日期 |
2012.06.14 |
申请号 |
US201113313318 |
申请日期 |
2011.12.07 |
申请人 |
OHNO NOBUYUKI;SEKIYA MAKOTO;HONDA MOTOR CO., LTD. |
发明人 |
OHNO NOBUYUKI;SEKIYA MAKOTO |
分类号 |
B25J9/16 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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