公开(公告)号：US11478931B2

公开(公告)日：2022-10-25

申请号：US16451209

申请日：2019-06-25

申请人： DISNEY ENTERPRISES, INC.

发明人： Moritz Niklaus Bâcher ,  Shayan Hoshyari ,  Hongyi Xu ,  Stelian Coros ,  Lars Espen Knoop

IPC分类号： B25J9/16

摘要： A robot control method, and associated robot controllers and robots operating with such methods and controllers, providing computational vibration suppression. Given a desired animation cycle for a robotic system or robot, the control method uses a dynamic simulation of the physical robot, which takes into account the flexible components of the robot, to predict if vibrations will be seen in the physical robot. If vibrations are predicted with the input animation cycle, the control method optimizes the set of motor trajectories to return a set of trajectories that are as close as possible to the artistic or original intent of the provider of the animation cycle, while minimizing unwanted vibration. The new control method or design tool suppresses unwanted vibrations and allows a robot designer to use lighter and/or softer (less stiff) and, therefore, less expensive systems in new robots.