Method for controlling a deformable robot, and related module and computer program
Number of patents in Portfolio can not be more than 2000
United States of America Patent
Stats
-
Jul 11, 2017
Issued Date -
N/A
app pub date -
Feb 4, 2014
filing date -
Feb 8, 2013
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
The invention relates to a method for controlling a robot (1) defined by a node model and deformable by means of actuators (2). Effector points of the robot must follow a predetermined path. A matrix K defines a change in the inner forces of the robot in each node, on the basis of the change in position of the nodes. Said method includes: updating the K values on the basis of the current position of the nodes of the robot; determining the Jacobian matrix J of the vector δ(x), x being a vector of the position of the nodes and the vector δ(x) comprising respective lines which indicate the coordinates of the gaps between the position of each effector point and the predetermined path thereof, and the movement of each actuator; calculating the values of the matrix W=J·K−1·JT; and solving the equation δ=W·λ+δ0 and controlling the robot on the basis of said resolution.
First Claim
Family
International Classification(s)
- [Classification Symbol]
- [Patents Count]
Cited Art Landscape
Patent Citation Ranking
Recipient Email Address
Recipient Email Address
Comment
Recipient Email Address
Add to Portfolio(s)
To add this patent to one, or more, of your portfolios, simply click the add button.
This Patent is in these Portfolios:
Add to additional portfolios:
Last Refreshed On:
Changes done successfully