| 摘要 |
The invention is embodied in a method of controlling a robot manipulator moving toward a target frame F0 with a target velocity v0 including a linear target velocity nu and an angular target velocity omega 0 to smoothly and continuously divert the robot manipulator to a subsequent frame F1 by determining a global transition velocity v1, the global transition velocity including a linear transition velocity nu 1 and an angular transition velocity omega 1, defining a blend time interval 2 tau 0 within which the global velocity of the robot manipulator is to be changed from a global target velocity v0 to the global transition velocity v1 and dividing the blend time interval 2 tau 0 into discrete time segments delta t. During each one of the discrete time segments delta t of the blend interval 2 tau 0, a blended global velocity v of the manipulator is computed as a blend of the global target velocity v0 and the global transition velocity v1, the blended global velocity v including a blended angular velocity omega and a blended linear velocity nu , and then, the manipulator is rotated by an incremental rotation corresponding to an integration of the blended angular velocity omega over one discrete time segment delta t.
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