| 摘要 |
<p>A modular object handling system has a multi-level control architecture, which includes a system controller (210) that coordinates the functions and/or operations of individual module controllers (220), that in turn control corresponding actuators (230), to provide a desired system function. The system controller (210) performs the overall trajectory planning by taking the constraints of each of the module actuators (230) into account. The system controller (210) may compensate for deviations of objects from their planned trajectories by contemporaneously redetermining trajectories and trajectory envelopes to encode the various combinations of the system constraints and task requirements. The trajectory envelopes can denote regions around other trajectories to indicate control criteria of interest, such as control and collision boundaries. However, by predetermining the trajectories and trajectory envelopes, and comparing the current state of an object with the predetermined trajectory envelopes, the system controller can even more quickly determine the extent to which the state satisfies the criteria. Thus, this system simplifies on-line determinations to merely include a comparison between a particular object, a particular trajectory and the corresponding trajectory envelope. It is also desirable to predetermine multiple trajectories, as well as trajectory envelopes associated with each of the multiple trajectories, for each object. The apparatus and methods of the invention can then monitor the status of each object, and switch between the multiple predetermined trajectories in order to actively improve energy usage efficiency. The apparatus and methods can also modify the trajectories of other objects to avoid collisions with the object whose trajectory was originally switched. <IMAGE></p> |
