2 results about "Trajectory method" patented technology

The application provides an adaptive trajectory planning method based on amplitude-frequency cooperation, and relates to the fields of rehabilitation robots and intelligent control technologies.The method first constructs a super-helix torque estimator based on generalized momentum to realize human-robot interaction torque estimation without sensors;frequency adjustment factors and a fuzzy adaptive admittance controller are introduced to adaptively adjust the amplitude-frequency cooperative basic reference trajectory learned by a dynamic motion primitive;and finally, a position controller is used to realize trajectory tracking.Compared with existing trajectory methods based on fixed trajectories or only adjusting frequencies, the application can simultaneously adjust the frequency and amplitude of the trajectory, is more in line with human motion rules, and can effectively improve the compliance of rehabilitation training.

Method for controlling the curvature of a motor vehicle's trajectory by specifying a steering angle, which is based on the inversion of a first-order ordinary differential equation for the curvature of the trajectory as a function of the steering angle with respect to the steering angle, where several estimates of vehicle dynamics-dependent and / or vehicle-dependent parameters are used and the first derivative of the curvature of the trajectory is substituted by a weighted sum of (1) the inverse of an autonomous first-order differential equation for the deviation between the curvature of the trajectory and a target value for the curvature of the trajectory after the first derivative of the curvature of the trajectory and (2) a regression model.