Patent ID: 8924021
Filing Date: 2014-12-30
Classification: G05B,G06N,Y10S

Abstract:
1. A method for controlling movement of members of an articulated system, the method comprising: determining a plurality of articulated joint space trajectories based on r sensed motion information of the members of the articulated system; determining a plurality of reference joint space trajectories based on a tracked motion of a source system, wherein the reference joint space trajectories are determined independently from the articulated joint space trajectories; constructing a weighted matrix based on constraints on movement of the members of the articulated system, the reference joint space trajectories, and the articulated joint space trajectories; and determining a joint velocity vector based on the weighted matrix, the reference joint space trajectories, and the articulated joint space trajectories; generating torque commands that control movement of the members of the articulated system while enforcing constraints on movement of the members by a control law incorporating: a first constant diagonal feedback gain matrix based on the joint velocity vector, a second constant diagonal feedback gain matrix based on the reference joint space trajectories and the articulated joint space trajectories, and a third constant diagonal feedback gain matrix.