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    • 4. 发明申请
    • POSITION/FORCE CONTROL OF A FLEXIBLE MANIPULATOR UNDER MODEL-LESS CONTROL
    • 在无模型控制下的柔性操纵器的位置/力控制
    • WO2016073367A1
    • 2016-05-12
    • PCT/US2015/058651
    • 2015-11-02
    • THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY
    • YIP, Michael, C.CAMARILLO, David, B.
    • B25J9/06B25J9/10B25J9/16B25J19/02
    • B25J9/1607B25J9/104B25J9/1075B25J13/085B25J18/06
    • A method includes receiving position information and force information, providing control commands to a steering mechanism of a continuum manipulator based on the position information and the force information, updating a control matrix based on the position information and the provided control commands, and providing updated control commands to the steering mechanism based on the updated control matrix. A continuum manipulator includes a body, a steering mechanism configured to steer the body, sensors, and a controller. The sensors include a position sensor to detect a position of the body and a force sensor to detect a force against the body. The controller is configured to receive position information from the position sensor and force information from the force sensor, provide control commands to the steering mechanism based on the position information and the force information, and update a control matrix based on the position information and the provided control commands.
    • 一种方法,包括接收位置信息和力信息,基于位置信息和力信息向连续操纵器的转向机构提供控制命令,基于位置信息和所提供的控制命令更新控制矩阵,并提供更新的控制 基于更新的控制矩阵对转向机构的命令。 连续体操纵器包括主体,构造成转向身体的转向机构,传感器和控制器。 传感器包括用于检测身体位置的位置传感器和用于检测针对身体的力的力传感器。 控制器被配置为从位置传感器接收位置信息和来自力传感器的力信息,基于位置信息和力信息向控制机构提供控制命令,并且基于位置信息和所提供的更新控制矩阵 控制命令。