| 摘要 |
<p>The controller (2) has a control section comprising a set of control modules (R-1, R-2, R-3) for outputting control variables, and an additional interface for another set of control modules (R-1',R-2', R-3') is arranged in the section. Kinematic models (M-1, M-1') are provided between the modules, where the interface integrates an interpolator into the controller. Another interpolator interpolates reference-positions of a manipulator, where the former interpolator is joined with the models. The interpolators operate in parallel, and determine a reference-joint angle of the manipulator. Independent claims are also included for the following: (1) a method for controlling a manipulator (2) a computer program for executing a method for controlling a manipulator (3) a computer program product with program code for executing a method for controlling a manipulator.</p> |
