Patent ID: 8311731
Filing Date: 2012-11-13
Classification: B25J,G05B

Abstract:
1. A method for controlling a robot, comprising: defining a target for a motion of the robot; supplying the target to a whole body motion control unit and a collision avoidance control unit; combining a joint velocity vector calculated by the whole body motion control unit with a joint velocity vector calculated by the collision avoidance control unit in a blending control unit; outputting a combined joint velocity vector by the blending control unit; calculating a distance between different segments of the robot connected to each other via at least one joint or a segment of the robot and another object by a distance computation unit based on the combined joint velocity vector; submitting the computed distance information to the collision avoidance control unit, the whole body motion control unit and the blending control unit; calculating a final joint velocity vector {dot over (q)} by {dot over (q)}={1−f(d)}{dot over (q)} calculating a motion control signal adapted to command the robot to reach the target on the basis of the final joint velocity vector and controlling the robot based on the calculated motion control signal.