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1.发明公开OBSERVER-CORRECTOR CONTROL SYSTEM FOR SYSTEMS WITH UNMODELED DYNAMICS 有权观察校正控制系统与非MODELIERIENDYNAMISHE EIGENSHAFFEN系统
公开(公告)号：EP1319201A4
公开(公告)日：2004-12-29
申请号：EP01954890
申请日：2001-07-23
发明人： HOSEK MARTIN , MOURA JAIRO TERRA , ELMALI HAKAN
IPC分类号： G05B13/02
CPC分类号： G05B13/021
摘要： A system (10) having a state observer (16) and a corrector filter(18), wherein the system is used for extracting a signal component from an output signal of a dynamic system (12). The state observer is adapted to track a signal component that represents dominant dynamics in the output signal of the dynamic system and provide an estimation signal representing an estimated signal component in the output signal of the dynamic system. The corrector filter is adapted to compensate for a mismatch between the estimation signal and the actual signal component that represents the dominant dynamics in the output signal. A combination of the estimation signal with an output signal of the corrector filter can provide a synthesized signal including the signal component that represents the dominant dynamics in the output signal.
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2.发明公开ROBOTIC MANIPULATORS BASED ON PRE-DEFINED TIME-OPTIMUM TRAJECTORY SHAPE 审中-公开Robotor机械臂它用特殊时间之前最优轨道形态将被执行
公开(公告)号：EP1232464A4
公开(公告)日：2007-12-26
申请号：EP00932457
申请日：2000-05-15
发明人： HOSEK MARTIN , ELMALI HAKAN
CPC分类号： B25J9/1664 , G05B2219/40395 , G05B2219/40454 , G05B2219/40519 , Y10S414/135 , Y10S414/136 , Y10S414/137
摘要： A system for providing the reliable and numerically efficient generation of time-optimum trajectories with easy-to-track or continuous acceleration profiles for simple and blended moves of single and multi-arm robotic manipulators, such as an extension and retraction move along a straight line or a rotary move following a circular arc, with velocity, acceleration, jerk, and jerk rate constraints, wherein the generic trajectory for shape for moves along a straight line for a single-arm robot between points (2 and 3) in the figure. A time-optimum trajectory is the set of the position, velocity and acceleration profiles which describe the move of selected end effector along a given path in the shortest time possible without violating given constraints, with a special case being an optimum abort trajectory, which brings the moving arm into complete rest in the shortest time. The system also involves the blending of simple moves into a single trajectory by decomposing trajectories of the individual moves into their orthogonal components and overlapping them for a given time interval, which results in a non-stop move along as mooth transfer path.
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