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Mobile apparatus and robot, and control system thereof
US8942847B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-8942847-B2 |
| Application number | US-201113313318-A |
| Country | US |
| Kind code | B2 |
| Filing date | Dec 7, 2011 |
| Priority date | Dec 14, 2010 |
| Publication date | Jan 27, 2015 |
| Grant date | Jan 27, 2015 |
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Abstract
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Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q 1 (k) and a second reference point q 2 (k) in the time-space coordinate system is set to satisfy a first condition defined according to a motion performance of an actuator 2 . When a previous trajectory candidate tr(k−1) is determined to have a contact with an object trajectory tro, a current positional relationship (k>1) between the first reference point q 1 (k) and the second reference point q 2 (k) in the time-space coordinate system is set to satisfy a second condition that a current time interval between the first reference point q 1 (k) and the second reference point q 2 (k) is longer than a previous time interval or the like.
First claim
Opening claim text (preview).
What is claimed is: 1. A control system configured to control motions of an actuator so as to make time-series positions of a controlled subject in real space follow a desired trajectory in a time-space coordinate system defined by a real-space coordinate system and a time coordinate system, comprising: a first arithmetic processing element configured to: set an initial positional relationship between a first reference point and a second reference point in the time-space coordin…
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- B25J9/1666Primary
Operations & Transport · mapped topic
Physics · mapped topic
Physics · mapped topic
Physics · mapped topic
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Frequently asked questions
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- What does patent US8942847B2 cover?
- Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q 1 (k) and a second reference point q 2 (k) in the time-space coordinate system is set to satisfy a first condition defined acco…
- Who is the assignee on this patent?
- Ohno Nobuyuki, Sekiya Makoto, Honda Motor Co Ltd
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1666. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Jan 27 2015 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 8 related publications on this page (citations in our corpus or others sharing the same primary CPC).