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Task Space Angular Velocity Blending for Real-Time Trajectory GenerationThe invention is embodied in a method of controlling a robot manipulator moving toward a target frame F(sub 0) with a target velocity v(sub 0) including a linear target velocity v and an angular target velocity omega(sub 0) to smoothly and continuously divert the robot manipulator to a subsequent frame F(sub 1) by determining a global transition velocity v(sub 1), the global transition velocity including a linear transition velocity v(sub 1) and an angular transition velocity omega(sub 1), defining a blend time interval 2(tau)(sub 0) within which the global velocity of the robot manipulator is to be changed from a global target velocity v(sub 0) to the global transition velocity v(sub 1) and dividing the blend time interval 2(tau)(sub 0) into discrete time segments (delta)t. During each one of the discrete time segments delta t of the blend interval 2(tau)(sub 0), a blended global velocity v of the manipulator is computed as a blend of the global target velocity v(sub 0) and the global transition velocity v(sub 1), the blended global velocity v including a blended angular velocity omega and a blended linear velocity v, and then, the manipulator is rotated by an incremental rotation corresponding to an integration of the blended angular velocity omega over one discrete time segment (delta)t.
Document ID
19970022907
Acquisition Source
Legacy CDMS
Document Type
Other - Patent
Authors
Volpe, Richard A. (NASA Pasadena Office CA United States)
Date Acquired
August 17, 2013
Publication Date
February 11, 1997
Subject Category
Mechanical Engineering
Accession Number
97N23326
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
Patent
US-Patent-5,602,968|NASA-Case-NPO-19022-1
Patent Application
US-Patent-Appl-SN-238041

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