发明申请
- 专利标题: Self-calibrating orienting system for a manipulating device
- 专利标题(中): 用于操纵装置的自校准定向系统
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申请号: US11101952申请日: 2005-04-08
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公开(公告)号: US20050234566A1公开(公告)日: 2005-10-20
- 发明人: Frank Joublin , Tobias Rodemann
- 申请人: Frank Joublin , Tobias Rodemann
- 优先权: EP04009122.5 20040416; EP04012357.2 20040525
- 主分类号: B25J19/04
- IPC分类号: B25J19/04 ; B25J9/16 ; G05B13/02 ; G05B19/401 ; G05B19/18 ; G06F19/00
摘要:
The invention relates to the control of an orienting/positioning system comprising comprising at least a sensor and an actuator for controlling an orienting and/or positioning action adapted to change an input space of the sensor. A first step evaluates pre-action output information of the sensor in order to detect a pre-action position of a manipulating device in the input space of the sensor. A second step decides on a targeted post-action position of the manipulating device in the input space of the sensor. A third step defines a command for the actuator by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor to actuator control coordinates using a predefined mapping function. A fourth step orients/positions the manipulating device according to the defined command in order to carry out the orienting/positioning action. A fifth step detects a real post-action position of the manipulating device in the input space of the sensor. A sixth step adapts the mapping function used in step three based on any difference of the real post-action position and the targeted post-action position of the manipulating device in the input space of the sensor in order to carry out an incremental adaptive learning of the mapping function. According to one embodiment of the present invention, steps S 1 to S6 are cyclically repeated at least once using the respectively adapted mapping function.
公开/授权文献
- US07509177B2 Self-calibrating orienting system for a manipulating device 公开/授权日:2009-03-24