Patent ID: 11926056
Assignee: UBTECH ROBOTICS CORP LTD
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 6:
7. The method of claim 6, further comprising:
constructing a system of linear equations of:, Ax
   =
   b
  
  ;
 

 
  
   A
   =
   
    [
    
     
      
       
        A
        11
       
      
      
       
        A
        12
       
      
     
     
      
       
        A
        21
       
      
      
       
        A
        22
       
      
     
    
    ]
   
  
  ;
 

 
  
   
    A
    11
   
   =
   
    [
    
     
      
       
        t
        0
        5
       
      
      
       
        t
        0
        4
       
      
      
       
        t
        0
        3
       
      
     
     
      
       
        5
        ⁢
        
         t
         0
         4
        
       
      
      
       
        4
        ⁢
        
         t
         0
         3
        
       
      
      
       
        3
        ⁢
        
         t
         0
         2
        
       
      
     
     
      
       
        20
        ⁢
        
         t
         0
         3
        
       
      
      
       
        12
        ⁢
        
         t
         0
         2
        
       
      
      
       
        6
        ⁢
        
         t
         0
        
       
      
     
    
    ]
   
  
  ,
  
   
    
     A
     12
    
    =
    
     [
     
      
       
        
         t
         0
         2
        
       
       
        
         t
         0
        
       
       
        1
       
      
      
       
        
         2
         ⁢
         
          t
          0
         
        
       
       
        1
       
       
        0
       
      
      
       
        2
       
       
        0
       
       
        0
       
      
     
     ]
    
   
   ;
  
 

 
  
   
    A
    21
   
   =
   
    [
    
     
      
       
        t
        1
        5
       
      
      
       
        t
        1
        4
       
      
      
       
        t
        1
        3
       
      
     
     
      
       
        5
        ⁢
        
         t
         1
         4
        
       
      
      
       
        4
        ⁢
        
         t
         1
         3
        
       
      
      
       
        3
        ⁢
        
         t
         1
         2
        
       
      
     
     
      
       
        20
        ⁢
        
         t
         1
         3
        
       
      
      
       
        12
        ⁢
        
         t
         1
         2
        
       
      
      
       
        6
        ⁢
        
         t
         1
        
       
      
     
    
    ]
   
  
  ,
  
   
    
     A
     22
    
    =
    
     [
     
      
       
        
         t
         1
         2
        
       
       
        
         t
         1
        
       
       
        1
       
      
      
       
        
         2
         ⁢
         
          t
          1
         
        
       
       
        1
       
       
        0
       
      
      
       
        2
       
       
        0
       
       
        0
       
      
     
     ]
    
   
   ;
  
 

 
  
   x
   =
   
    
     [
     
      
       q
       5
      
      ,
      
       q
       4
      
      ,
      
       q
       3
      
      ,
      
       q
       2
      
      ,
      
       q
       1
      
      ,
      
       q
       0
      
      ,
     
     ]
    
    T
   
  
  ;
  and
 

 
  
   b
   =
   
    
     [
     
      
       x
       0
      
      ,
      
       v
       0
      
      ,
      
       a
       0
      
      ,
      
       x
       1
      
      ,
      
       v
       1
      
      ,
      
       a
       1
      
     
     ]
    
    T
   
  
  ;
 

obtaining each of the undetermined coefficients of the quintic polynomial by solving the system of linear equations.