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公开(公告)号：US07756606B2
公开(公告)日：2010-07-13
申请号：US11017865
申请日：2004-12-22
IPC分类号： G06F19/00
CPC分类号： B25J9/1643 , G05B2219/40367 , Y10S700/90
摘要： A method of controlling a redundant manipulator for assigning one or more redundant joints from a plurality of joints and obtaining the solution to an inverse kinematics problem at high-speed. The joints are arbitrarily classified into redundant joints and non-redundant joints, and an initial value is set for the joint angle of the classified redundant joint as a parameter. Then based on an evaluating function or a constraint condition defined by the joint angle of the redundant joint provided as a parameter and the joint angle of the non-redundant joint, which is determined by the inverse kinematics calculation according to the change of the parameter, an optimum solution of a set of joint angles is determined, and until the optimum solution covers the target range of the hand position, the procedure to determine the optimum solution is repeated with relaxing the constraint conditions.
摘要翻译： 一种控制冗余操纵器的方法，用于从多个关节分配一个或多个冗余关节，并以高速获得逆运动学问题的解决方案。 关节被任意分为冗余关节和非冗余关节，并且将分类的冗余关节的关节角度的初始值设置为参数。 然后，基于由作为参数提供的冗余关节的关节角度和由根据参数的变化的逆运动学计算确定的非冗余关节的关节角度的评估函数或约束条件， 确定一组关节角度的最佳解，并且直到最佳解覆盖了手位置的目标范围，则通过放宽约束条件来重复确定最优解的过程。
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公开(公告)号：US20050143860A1
公开(公告)日：2005-06-30
申请号：US11017865
申请日：2004-12-22
CPC分类号： B25J9/1643 , G05B2219/40367 , Y10S700/90
摘要： A method of controlling a redundant manipulator for assigning one or more redundant joints from a plurality of joints and obtaining the solution to an inverse kinematics problem at high-speed. The joints are arbitrarily classified into redundant joints and non-redundant joints, and an initial value is set for the joint angle of the classified redundant joint as a parameter. Then based on an evaluating function or a constraint condition defined by the joint angle of the redundant joint provided as a parameter and the joint angle of the non-redundant joint, which is determined by the inverse kinematics calculation according to the change of the parameter, an optimum solution of a set of joint angles is determined, and until the optimum solution covers the target range of the hand position, the procedure to determine the optimum solution is repeated with relaxing the constraint conditions.
摘要翻译： 一种控制冗余操纵器的方法，用于从多个关节分配一个或多个冗余关节，并以高速获得逆运动学问题的解决方案。 关节被任意分为冗余关节和非冗余关节，并且将分类的冗余关节的关节角度的初始值设置为参数。 然后，基于由作为参数提供的冗余关节的关节角度和由根据参数的变化的逆运动学计算确定的非冗余关节的关节角度的评估函数或约束条件， 确定一组关节角度的最佳解，并且直到最佳解覆盖了手位置的目标范围，则通过放宽约束条件来重复确定最优解的过程。
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