公开(公告)号：WO2015056178A8

公开(公告)日：2015-11-12

申请号：PCT/IB2014065308

申请日：2014-10-14

Applicant: FOND ISTITUTO ITALIANO DI TECNOLOGIA

Inventor： MORO FEDERICO LORENZO ,  TSAGARAKIS NIKOLAOS ,  CALDWELL DARWIN

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1607 ,  G05B2219/39

Abstract: A Model-Based, Whole-Body Motion-Control (WBMC) system for an articulated robot required to perform simultaneous tasks which are not prioritized a priori and which may also be competing, the system comprising is described, the system comprising : • one or more attractors (MinEff, MomJ, MomCOM, JLim, EEff ), each of which is an operationally independent closed-loop, model-based torque/ force-control module associated with a corresponding robot's controlled task, and is designed to receive a quantity computed based on one or more quantities ( q, q ) representing the state of the robot, and to output robot's joint torques (TGC,TME, TMJ, TLMC, TAMC, TJL, TEE ) which are to be applied to robot's active joints to attract the robot's current state to a robot's target state; and • a torque and/or linear force command generator designed to receive the robot's joint torques and/or linear forces from the one or more attractors and to generate a torque and/or linear force command for the robot based on the received robot's joint torques to cause the robot's current state to converge to the robot's target state.

Abstract translation: 一种用于关节式机器人的基于模型的全身运动控制（WBMC）系统，其需要执行不优先于先验并且也可能是竞争的同时任务，所述系统包括：所述系统包括：一个或 更多的吸引器（MinEff，MomJ，MomCOM，JLim，EEff），其中每个都是与相应的机器人的受控任务相关联的操作上独立的闭环，基于模型的扭矩/力控制模块，并且被设计成接收数量计算 基于表示机器人的状态的一个或多个量（q，q），并且输出机器人的关节扭矩（TGC，TME，TMJ，TLMC，TAMC，TJL，TEE），其将被应用于机器人的主动关节以吸引 机器人目前状态为机器人的目标状态; 以及•扭矩和/或线性力指令发生器，其被设计成接收来自所述一个或多个吸引器的所述机器人的接头扭矩和/或线性力，并且基于所接收的机器人的接头扭矩来产生所述机器人的扭矩和/或线性力指令 使机器人的当前状态收敛到机器人的目标状态。

公开(公告)号：ITTO20130551A1

公开(公告)日：2015-01-03

申请号：ITTO20130551

申请日：2013-07-02

Applicant: FOND ISTITUTO ITALIANO DI TECNOLOGIA

Inventor： CALDWELL DARWIN ,  MORFEY STEPHEN ,  TSAGARAKIS NIKOLAOS

公开(公告)号：ITTO20130828A1

公开(公告)日：2015-04-15

申请号：ITTO20130828

申请日：2013-10-14

Applicant: FOND ISTITUTO ITALIANO DI TECNOLOGIA

Inventor： CALDWELL DARWIN ,  MORO FEDERICO LORENZO ,  TSAGARAKIS NIKOLAOS