A system, method, and computer program product for controlling an articulated system are described. The system estimates kinematics of body segments of the articulated system and constructs a weighted pseudo-inverse matrix to enforce kinematic constraints as well as achieve dynamic consistency based on the estimated kinematics. The system converts task descriptors to joint commands using the weighted pseudo-inverse matrix and controls the articulated system at both the velocity level and the acceleration level and enforces kinematic constraints using the joint commands.
Constrained resolved acceleration control
08.12.2015
Patent
Elektronische Ressource
Englisch
Time-optimal control of acceleration constrained mechanical systems
Springer Verlag | 1986
|Joint Position Bounds in Resolved-Acceleration Control: A Comparison
Springer Verlag | 2024
|Resolved Rate and Acceleration Control in the Presence of Actuator Constraints
British Library Online Contents | 1998
|