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.


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    Title :

    Constrained resolved acceleration control


    Contributors:

    Publication date :

    2015-12-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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