JP5114019B2 - エフェクタの軌道を制御するための方法 - Google Patents
エフェクタの軌道を制御するための方法 Download PDFInfo
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- JP5114019B2 JP5114019B2 JP2006142703A JP2006142703A JP5114019B2 JP 5114019 B2 JP5114019 B2 JP 5114019B2 JP 2006142703 A JP2006142703 A JP 2006142703A JP 2006142703 A JP2006142703 A JP 2006142703A JP 5114019 B2 JP5114019 B2 JP 5114019B2
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- 239000012636 effector Substances 0.000 title claims description 35
- 238000000034 method Methods 0.000 title claims description 22
- 239000013598 vector Substances 0.000 claims description 47
- 238000013507 mapping Methods 0.000 claims description 12
- 230000036544 posture Effects 0.000 claims description 10
- 239000011159 matrix material Substances 0.000 description 17
- 238000010586 diagram Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004091 panning Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
Description
x=f(q)
δq=J# δxcmd+Nξ
N=E−J#J
10 エフェクタ軸(aact)
Claims (6)
- タスク空間における、エフェクタを現在の状態(aact)から対称軸を有する所与の対象物に関する目標の状態(atarget)に至る軌道上で運動させるためのタスク記述を生成することを含み、前記エフェクタの運動を制御するための方法において、
前記タスク記述は、前記現在および目標の状態のベクトルの要素である制御パラメータを用い、前記対象物の対称性に基づいて決定される必要とされない不変制御パラメータを含めないで作成され、すなわち、前記対象物の対称軸周りの前記エフェクタの回転を含めないで作成され、前記不変制御パラメータを含まないタスク記述を使用することによって、タスク空間の次元を減らすことにより前記制御における零空間の自由度を増大させ、該増大された零空間の自由度を、関節限界を避けるため、特異姿勢を避けるため、または障害物を避けるために使用することを特徴とする、前記方法。 - 前記エフェクタは、前記目標の状態に向けて回転すべき軸を有する、請求項1に記載の方法。
- 前記エフェクタの軸の回転は、2次元タスク・ベクトル(x)によって記述される、請求項2に記載の方法。
- タスク空間におけるエフェクタの現在の状態(aact)から対称軸を有する所与の対象物に関する目標の状態(atarget)に至る軌道上で運動させるためのタスク記述を生成することを含み、前記エフェクタの運動を制御するための方法において、
前記運動の制御は、前記タスク記述において座標で表される前記現在の状態と前記目標の状態のベクトル要素の差に基づいて実施され、その際、前記エフェクタの軌道は、前記現在の状態と前記目標の状態との差を計算し、該差に基づいて前記エフェクタを動かすためのベクトル要素の増分値を前記タスク空間から配置空間上にマッピングすることによって計算され、
前記配置空間と前記タスク空間との間の次元の差は、前記タスク空間の運動に影響しない零空間の冗長な自由度を提供し、
前記タスク記述は、前記現在および目標の状態のベクトル要素を制御パラメータとして用い、前記対象物の対称性に基づいて決定される必要とされない不変制御パラメータを含めないで作成され、すなわち、前記対象物の対称軸周りの前記エフェクタの回転を含めないで作成され、前記不変制御パラメータを含まないタスク記述を使用することによって、タスク空間の次元を減らすことにより前記制御における零空間の自由度を増大させ、該増大された零空間の自由度を、関節限界を避けるため、特異姿勢を避けるため、または障害物を避けるために使用することを特徴とする、前記方法。 - 前記エフェクタは、前記目標の状態に向けて回転すべき軸を有する、請求項4に記載の方法。
- 前記エフェクタの軸の回転は、2次元タスク・ベクトルで記述される、請求項5に記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05011727A EP1728600B1 (en) | 2005-05-31 | 2005-05-31 | Controlling the trajectory of an effector |
EP05011727.4 | 2005-05-31 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006334774A JP2006334774A (ja) | 2006-12-14 |
JP5114019B2 true JP5114019B2 (ja) | 2013-01-09 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2006142703A Expired - Fee Related JP5114019B2 (ja) | 2005-05-31 | 2006-05-23 | エフェクタの軌道を制御するための方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8509951B2 (ja) |
EP (1) | EP1728600B1 (ja) |
JP (1) | JP5114019B2 (ja) |
CN (1) | CN100549889C (ja) |
DE (1) | DE602005005306T2 (ja) |
Cited By (1)
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KR20110114526A (ko) * | 2008-12-17 | 2011-10-19 | 쿠카 레보라토리즈 게엠베하 | 사전 결정된 경로를 매니퓰레이터가 주행하게 하기 위한 방법, 및 이러한 방법을 실행하기 위한 제어 장치 |
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WO2013183190A1 (ja) * | 2012-06-04 | 2013-12-12 | 株式会社安川電機 | ロボットシステム、ロボット制御装置、及びロボットシステムの制御方法 |
WO2014028557A1 (en) | 2012-08-15 | 2014-02-20 | Intuitive Surgical Operations, Inc. | Phantom degrees of freedom for manipulating the movement of mechanical bodies |
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-
2005
- 2005-05-31 DE DE602005005306T patent/DE602005005306T2/de active Active
- 2005-05-31 EP EP05011727A patent/EP1728600B1/en not_active Expired - Fee Related
-
2006
- 2006-03-15 CN CNB2006100574567A patent/CN100549889C/zh not_active Expired - Fee Related
- 2006-05-22 US US11/439,356 patent/US8509951B2/en not_active Expired - Fee Related
- 2006-05-23 JP JP2006142703A patent/JP5114019B2/ja not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20110114526A (ko) * | 2008-12-17 | 2011-10-19 | 쿠카 레보라토리즈 게엠베하 | 사전 결정된 경로를 매니퓰레이터가 주행하게 하기 위한 방법, 및 이러한 방법을 실행하기 위한 제어 장치 |
KR101660064B1 (ko) | 2008-12-17 | 2016-09-26 | 쿠카 레보라토리즈 게엠베하 | 사전 결정된 경로를 매니퓰레이터가 주행하게 하기 위한 방법, 및 이러한 방법을 실행하기 위한 제어 장치 |
Also Published As
Publication number | Publication date |
---|---|
CN100549889C (zh) | 2009-10-14 |
EP1728600A1 (en) | 2006-12-06 |
DE602005005306T2 (de) | 2009-05-07 |
EP1728600B1 (en) | 2008-03-12 |
JP2006334774A (ja) | 2006-12-14 |
CN1873572A (zh) | 2006-12-06 |
US20060293790A1 (en) | 2006-12-28 |
US8509951B2 (en) | 2013-08-13 |
DE602005005306D1 (de) | 2008-04-24 |
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