Location-force target path creator
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United States of America Patent
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-
Aug 14, 2001
Grant Date -
N/A
app pub date -
Feb 25, 1998
filing date -
Feb 26, 1997
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A location-force target path creator creates a smooth target path function from target values among values of location, position, force and moment given for a force control system. The target values are set as nodes together with times for which the target values are applied. The nodes are projected onto a time axis having a time region which is divided into a series of time regions. A target path function is calculated for an element motion by applying a boundary condition to each of the time regions.
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