发明名称 |
Interactive guidance system for kinematically-redundant manipulator |
摘要 |
Starting with a controlled end-effector target movement and the actual value (qi) of the manipulator joint position, a new joint position (qi+i) is calculated, taking account of a merit function (f(q)) parametered by non-negative weighting values (aj,bj), also of path restrictions by physical joint stops (qmin,qmax) for maximum joint speed, and of the kinematic equation represented by the Jacobi-Matrix. The new joint position determines the new values for the joint-regulator. The merit function is the sum of the energy and reference position criteria, the respective formulae for which are (q-qi) tdiag (aj) (q-qi) and (q-qref) tdiag (Bj) (q-qref). The value (qref) is a predetermined joint position so determined that the sequence of the calculated joint-position values runs closely round the reference-position value. Using a joint-position value (qo) as a starting point, a permissible optimisation vector is determined relating to all active auxiliary conditions which indicate which path limitations are reached.
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申请公布号 |
DE19703915(C1) |
申请公布日期 |
1998.08.06 |
申请号 |
DE19971003915 |
申请日期 |
1997.02.03 |
申请人 |
DEUTSCHES ZENTRUM FUER LUFT- UND RAUMFAHRT E.V., 53175 BONN, DE |
发明人 |
SCHLEMMER, MAXIMILIAN, DIPL.-MATH., 82402 SEESHAUPT, DE |
分类号 |
B25J9/16;B25J9/18;(IPC1-7):B25J9/18;B25J9/06;B25J13/02 |
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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