Patent Document ID: 10065312
Application ID: 15208784
Patent Flag: 1

Claim One:
1. A control system for a robotic arm comprising: a robotic arm comprising at least one link and comprising an end effector; a group of sensors attached to the robotic arm where the group of sensors comprises one or more sensors and where the group of sensors provides one or more signals describing at least one joint angle established by the robotic arm; a group of actuators attached to the robotic arm where the group of actuators comprises one or more actuators and where the group of actuators is configured to generate motion of the at least one link comprising the robotic arm; and a processor in communication with the group of sensors and the group of actuators and configured to perform steps comprising: communicating with the group of sensors and determining an actual position, where the actual position is a position of the end effector at a given time t; determining a desired position, where the desired position is a prescribed position of the end effector at the given time t; evaluating a feedback equation for the end effector, where the feedback equation comprises the desired position and the actual position of the end effector and determining an end effector parameter b using the feedback equation, where the end effector parameter b describes a condition at the end effector of the robotic arm; determining a prospective control parameter x for at least one actuator in the group of actuators by using a transformation matrix A o and the end effector parameter b, where the transformation matrix A o comprises at least one parameter having a value dependent on the value of the at least one joint angle established by the robotic arm, by performing steps comprising: selecting a plurality of distributed joint angles; and minimizing an error function, where the error function comprises a plurality of errors, and where a quantity of errors in the plurality of errors is equal to a quantity of joint angles in the plurality of distributed joint angles, and where each error in the plurality of errors corresponds to a specific joint angle in the plurality of distributed joint angles, where the each error comprises a specific transformation matrix A i , the prospective control parameter x, and the end effector parameter b, where the specific transformation matrix A, is the transformation matrix A o when the specific joint angle is utilized as the at least one joint angle, thereby determining the prospective control parameter x; and communicating the prospective control parameter x to the at least one actuator in the group of actuators; and controlling the at least one actuator in the group of actuators using the prospective control parameter x.