Patent №
US 6,181,983
Granted
2001-01-30
Filed 1998
Owner
DEUTSCHES ZENTRUM FUR LUFT-UND RAUMFAHRT E.V.
Lab
—
AI components
3
ml · planning · hardware
Assignment
Recorded
Dataset
AIPD
2023_r1 edition
Application
09100014
Beginning with a successive commanded end-effector destination shift, the method of the invention, which includes a calculation corresponding to a special algorithm of inverse kinematics using the Jacobi Matrix in the control of a manipulator, effects an optimization of weighted criteria (energy criteria, acceleration criteria and reference-position criteria) in a real-time cycle while reliably maintaining all path limitations and resulting in an optimized acceleration behavior. The method of the invention can be used in interactive path guidance of a manipulator and/or as a modular component of a superordinate task, such as for force-control objectives.
AI classification
Ownership
DEUTSCHES ZENTRUM FUR LUFT-UND RAUMFAHRT E.V.
assignment · 93470060
Assignors
SCHLEMMER, DR. MAXIMILIAN, SCHEDL, MANFRED, STEINMETZ, MICHAEL, GRUBEL, DR. GEORG, FINTSTERWALDER, DR. REINHARD
On an employer assignment, the assignors are typically the inventors.