MOBILE APPARATUS AND ROBOT, AND CONTROL SYSTEM THEREOF

Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q1(k) and a second reference poi...

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Bibliographic Details
Main Authors SEKIYA MAKOTO, OHNO NOBUYUKI
Format Patent
LanguageEnglish
Published 14.06.2012
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
HAND TOOLS
MANIPULATORS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
TRANSPORTING
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Summary:Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q1(k) and a second reference point q2 (k) in the time-space coordinate system is set to satisfy a first condition defined according to a motion performance of an actuator 2. When a previous trajectory candidate tr(k−1) is determined to have a contact with an object trajectory tro, a current positional relationship (k>1) between the first reference point q1(k) and the second reference point q2 (k) in the time-space coordinate system is set to satisfy a second condition that a current time interval between the first reference point q1(k) and the second reference point q2 (k) is longer than a previous time interval or the like.
Bibliography:Application Number: US201113313318