Simulation-in-the-loop tuning of robot parameters for system modeling and control

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United States of America

PATENT NO 11975451
APP PUB NO 20220305646A1
SERIAL NO

17214810

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Abstract

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A system for parameter tuning for robotic manipulators is provided. The system includes an interface configured to receive a task specification, a plurality of physical parameters, and a plurality of control parameters, wherein the interface is configured to communicate with a real-world robot via a robot controller. The system further includes a memory to store computer-executable programs including a robot simulation module, a robot controller, and an auto-tuning module a processor, in connection with the memory. In this case, the processor is configured to acquire, in communication with the real-world robot, state values of the real-world robot, state values of the robot simulation module, simultaneously update, by use of a predetermined optimization algorithm with the auto-tuning module, an estimate of one or more of the physical, and said control parameters, and store the updated parameters.

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Patent Owner(s)

Patent OwnerAddress
MITSUBISHI ELECTRIC RESEARCH LABORATORIES INCCAMBRIDGE MA

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Benosman, Mouhacine Boston, US 45 259
Corcodel, Radu Ioan Quincy, US 7 11
Jain, Siddarth Cambridge, US 6 7
Sullivan, Alan Cambridge, US 45 1543
van, Baar Jeroen Arlington, US 29 908

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