公开(公告)号：US5921505A

公开(公告)日：1999-07-13

申请号：US758514

申请日：1996-12-02

Applicant: Victor A. Spector

Inventor： Victor A. Spector

IPC: F03G3/08 ,  B64G1/28 ,  B64G1/42

CPC classification number: B64G1/426 ,  B64G1/28 ,  B64G1/42 ,  B64G1/428 ,  B64G1/283

Abstract: Method and system providing enhanced mechanical stability in an electrically-powered vehicle. The system includes an electrical power subsystem arranged on a vehicle structure. At least two counter-rotating energy storage flywheels are mounted to a flywheel mounting plate. Torque sensors are arranged between the flywheel mounting plate and the vehicle structure for sensing a net torque on the vehicle resulting from the pair of flywheels and generating a torque signal indicative thereof. A vehicle attitude sensor produces an attitude signal and detects disturbances to the vehicle. A vehicle attitude actuator and electronic processing equipment are connected to the pair of counter-rotating energy storage flywheels, the torque sensors, the vehicle attitude sensor, the vehicle attitude actuator, and the electrical power subsystem. The electronic processing equipment processes the attitude signal and the torque signal to provide a control signal to the vehicle attitude actuator for reducing the net torque on the vehicle. The system also adjustably controls an attitude of the vehicle in response to the output of the sensors and counteracts disturbances resulting from the at least two counter-rotating energy storage flywheels.

Abstract translation: 在电动车辆中提供增强的机械稳定性的方法和系统。 该系统包括布置在车辆结构上的电力子系统。 至少两个反向旋转储能飞轮安装在飞轮安装板上。 扭矩传感器布置在飞轮安装板和车辆结构之间，用于感测由一对飞轮产生的车辆上的净转矩，并产生指示其的扭矩信号。 车辆姿态传感器产生姿态信号并检测对车辆的扰动。 车辆姿态执行器和电子处理设备连接到一对反向旋转储能飞轮，扭矩传感器，车辆姿态传感器，车辆姿态致动器和电力子系统。 电子处理设备处理姿态信号和转矩信号，以向车辆姿态致动器提供控制信号，以减少车辆上的转矩。 该系统还可以响应于传感器的输出并且抵消由至少两个反向旋转储能飞轮产生的干扰而可调整地控制车辆的姿态。

公开(公告)号：US6004016A

公开(公告)日：1999-12-21

申请号：US692733

申请日：1996-08-06

Applicant: Victor A. Spector

Inventor： Victor A. Spector

IPC: B25J13/00 ,  B25J9/16 ,  B25J19/06 ,  G05B19/18 ,  G05B19/4093 ,  G05B19/4155 ,  G05B19/04

CPC classification number: B25J9/1666 ,  G05B2219/39083 ,  G05B2219/40429 ,  G05B2219/40448 ,  G05B2219/40474

Abstract: A method and apparatus for path planning and execution of movements of multiple mobile objects, such as robotic manipulators (64, 66), in a common workspace. Path planning at a relatively coarse scale yields, for each object, path definitions (24) in configuration space (c-space), which is an n-dimensional space, where there are n degrees of freedom of movement of each object. The coarse path definitions are interpolated to provide primary control signals (54) to execute object movements, in combination with collision avoidance control signals (56) derived from an artificial force field model (46) that generates repulsion forces based on mutual proximity of the objects. Path planning includes determining which subregions or cells of c-space are subject to potential collision, and selecting multiple trial path segments until a path is found around those cells. For execution, the coarse scale path parameters, are expanded to a finer scale by interpolation (40), and the artificial force field model generates additional control signals (56) corresponding to the repulsion forces needed to maintain separation of the objects in the workspace.

Abstract translation: 用于在公共工作空间中的多个移动对象（例如机器人操纵器（64,66））的移动的路径规划和执行的方法和装置。 相对粗略的规划路径规划为每个对象产生了配置空间（c空间）中的路径定义（24），它是一个n维空间，其中每个对象有n个自由度。 粗略路径定义被插值以提供执行对象运动的主要控制信号（54），以及基于人造力场模型（46）导出的碰撞避免控制信号（56），该人造力场模型（46）基于物体的相互接近产生排斥力 。 路径规划包括确定c空间的哪些子区域或​​小区遭受潜在的冲突，并且选择多个试验路径段，直到围绕这些小区发现路径。 为了执行，粗尺度路径参数通过内插（40）扩展到更精细的尺度，并且人造力场模型产生对应于维持工作空间中物体分离所需的排斥力的附加控制信号（56）。