Patent ID: 9170580
Filing Date: 2015-10-27
Classification: G05B

Abstract:
1. A method for determining trajectories of redundant actuators of a machine, wherein the redundant actuators includes a first actuator and a second actuator, the method comprising: determining a first trajectory of the first actuator tracking a reference trajectory with an error tolerance less than an operational range of the second actuator, wherein the error tolerance forms at least a part of an inequality constraint, and wherein the determining solves a constraint optimization problem of an operation of the first actuator subject to the inequality constraint, comprising: determining a cost function representing the operation of the first actuator tracking the reference trajectory as a function of a length of the first trajectory, a curvature of the first trajectory and the error tolerance; and optimizing the cost function by solving the constraint optimization problem subject to the inequality constraint and an equality constraint, wherein the inequality constraint includes a position constraint, a velocity constraint, an acceleration constraint, and a torque constraint of the second actuator, and wherein the equality constraint includes a kinematic constraint on a sum of position contributions resulting from operations of the first and the second actuators; and determining a second trajectory of the second actuator based on a difference between the reference trajectory and the first trajectory, wherein steps of the method are performed by a processor.