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Adaptive orientation system for controller

A control device and orientation system technology, applied in the direction of control using feedback, can solve the problems of time-consuming, high complexity, and experience-dependent calibration technology

Inactive Publication Date: 2005-11-16
HONDA RES INST EUROPE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of such directional robots is that they need to be calibrated frequently in order to work correctly
Therefore, frequent calibration in new and / or uncontrolled environments is not possible
Furthermore, the described calibration by frequent use of reference points is not sufficient to account for the non-linearity of the motor response
[0010] Calibration by mathematical analysis has the disadvantage of requiring multiple implicit assumptions, which often lead to great simplifications
Therefore, the accuracy of the calibration method is usually not enough
Furthermore, calibration by mathematical analysis is usually not suitable for online calibration due to the high complexity
[0011] The downside of parameter / hardware tuning under human supervision is that it requires human expert intervention
Therefore, this calibration scheme is not suitable for autonomous robots
Furthermore, this calibration technique is usually very time-consuming and highly dependent on the experience of experts

Method used

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Embodiment Construction

[0055] will now refer to Figure 3a The processing according to the present invention will be described. with known processing (see figure 2 ), the output signal of the sensor is evaluated to determine the target position of the manipulating device in the input space of the sensor device 1 , which is obtained by a pre-calculated "one-strike" action. This means first composing an action, interacting with a real-world plan, and then executing the entire action. Only after the action is completed is the discrepancy between the originally planned action and the actual outcome assessed and additional corrective actions planned and executed.

[0056] According to the invention, for mapping the sensor coordinates of the determined motion into the actuator coordinates, an adaptively learned mapping is used. In the first cycle of orientation, a rough estimate or an arbitrarily set mapping function is used. In at least one further cycle, a modified "learned" mapping function will b...

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PUM

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Abstract

The present invention relates to control of an orientation system, the orientation system comprises a sensor (1); and actuator devices (41, 42, 43) for controlling the orientation action of the operation and control device, the action is suitable for changing the input space of said sensor device.

Description

technical field [0001] The invention relates to the control of an orientation / positioning device with sensor means, the input space of which can be varied by means of defined planned real behaviors performed by a manipulator controlled by the orientation / positioning device. Therefore, it is envisaged to orient / position the actuation device detected by the sensor device, ie covered by the input space of the sensor device, to a predetermined target position of the input space coordinate system of the sensor device. Background technique [0002] The background of the invention is the field of orientation / positioning devices, to which reference will now be made figure 1 and figure 2 to illustrate this orientation / positioning device. figure 1 Represents a stereo camera that can be oriented with multiple degrees of freedom. Assume that the illustrated camera is oriented such that a detected visible object that appears somewhere in the camera's input space is moved to the coord...

Claims

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Application Information

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IPC IPC(8): G05D3/12
Inventor 弗兰克・茹布兰托比亚斯・罗德曼
Owner HONDA RES INST EUROPE