| 摘要 |
<p>The method involves storing a reference path, and determining reference increments based on dynamics of a manipulator while following the path. The stored reference path is generated to induce positions representing locations and/or orientations of a manipulator-fixed reference coordinate system, joint coordinates and a parameterized function. A determination is made whether drive forces are necessary to realize reference motion exceeding tolerable drive forces based on the dynamics of the manipulator. A linearized model of the manipulator is evaluated. Independent claims are also included for the following: (1) a control device for a robotic manipulator, comprising memory (2) a computer-readable medium comprising a set of programming instructions for executing a method for controlling a robotic manipulator.</p> |
