IMITATION LEARNING METHOD FOR A MULTI-AXIS MANIPULATOR

The present invention concerns an imitation learning method for a multi-axis manipulator (7,7′). This method comprises the steps of capturing, at a set of successive waypoints (10,11) in a teach-in trajectory (4) of a user-operated training tool, spatial data comprising position and orientation of t...

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Bibliographic Details
Main Authors CLERAMBAULT STÉPHANE, PINAULT SAMUEL, OUNY JÉRÔME
Format Patent
LanguageEnglish
Published 02.04.2015
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The present invention concerns an imitation learning method for a multi-axis manipulator (7,7′). This method comprises the steps of capturing, at a set of successive waypoints (10,11) in a teach-in trajectory (4) of a user-operated training tool, spatial data comprising position and orientation of the training tool (3) in a Cartesian space; selecting, from among said set of successive waypoints (10,11), a subset of waypoints (11) starting from a first waypoint (11) of said set of successive waypoints (10,11), wherein for each subsequent waypoint (11) to be selected a difference in position and/or orientation with respect to a last previously selected waypoint (11) exceeds a predetermined threshold; fitting a set trajectory (4′) in said Cartesian space to said selected subset of waypoints (11); and converting said set trajectory into motion commands in a joint space of said multi-axis manipulator (7,7′).
Bibliography:Application Number: US201314398928