Local Positioning System Jacobian Velocity Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Local positioning systems face challenges in accurately controlling the position and velocity of an aim point on a target object, especially when the aim direction is not perpendicular to the surface, leading to curved motion paths and non-linear velocity changes, which complicates interactive and automated control modes.
Innovation Solution
The system employs a Jacobian-based method to transform motion control inputs into pan and tilt velocity commands for a multi-axis articulation mechanism, using real-time computation of the inverse Jacobian matrix to achieve precise velocity-based motion control in the target coordinate system, enabling non-stop motion paths and enhanced interactive position tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If inverse kinematics is used for point-to-point control of the pan-tilt device, then the aim point can be positioned at target locations, but the motion path becomes curved instead of straight and the velocity becomes non-linear
Solution Approach 1:
The system dynamically adjusts the control approach based on the desired motion type. For interactive control, it uses velocity-based Jacobian control to maintain straight line motion and constant velocity. For automated playback, it uses position-based inverse kinematics with interpolation. This dynamic switching resolves the contradiction by applying the appropriate control method for each operational context.
Solution Approach 2:
The invention changes the control parameter from position-only (inverse kinematics) to velocity-based (Jacobian control). By controlling the velocity of the aim point and using the Jacobian matrix to transform this to pan-tilt velocities, the system achieves straight line motion paths and constant velocity in the target coordinate system, directly resolving the non-linearity issue.
2Measurement precision
If multiple segmented paths are used to trace shapes in automated position playback mode, then the aim point can follow desired trajectories, but the process becomes slow due to frequent starts and stops
Solution Approach 1:
The invention implements continuous motion control by eliminating the stop-at-each-point requirement. The velocity-based Jacobian control allows the aim point to move continuously along the desired trajectory without stopping at intermediate positions. This maintains trajectory accuracy while significantly increasing tracing speed and reducing wear from repeated starts and stops.
Solution Approach 2:
The system replaces the traditional mechanical point-to-point positioning approach with a velocity-based control system. Instead of moving to discrete positions and stopping, the system continuously adjusts velocities to follow the desired path, substituting incremental mechanical positioning with smooth continuous motion control.
3Measurement precision
If traditional point-to-point control is used, then the device can move between target locations, but excessive wear and tear occurs on device components due to frequent starts and stops
Solution Approach 1:
The velocity-based control system enables continuous smooth motion between positions, eliminating the frequent starts and stops that cause mechanical wear. The system maintains positioning capability by continuously adjusting velocities to reach target locations, thereby preserving component durability while maintaining positioning precision.
4Adaptability or versatility
If the LPS uses a rotation-based articulation mechanism, then the device can achieve multi-axis movement, but the motion between points is not linear requiring many positions to approximate shapes
Solution Approach 1:
The invention substitutes position-based control with velocity-based control using the Jacobian matrix. This mathematical transformation directly computes the pan-tilt velocities needed to achieve any desired aim point velocity, eliminating the need for complex multi-segment path approximations. The rotation-based mechanism remains, but the control approach simplifies the path generation process.
Solution Approach 2:
The system changes from controlling positions to controlling velocities. By specifying the desired velocity of the aim point in the target coordinate system and using the Jacobian matrix to transform this to joint velocities, the system achieves direct linear motion control without requiring complex path approximation through multiple discrete positions.
Data Source
AI summary
A local positioning system including a sighting device for indicating an aim point on a target object, the target object having a local coordinate system, an articulation mechanism connected to the sighting device to effect movement of the sighting device about at least two independent axes, and a controller in communication with the articulation mechanism, the controller being configured to control a velocity of the sighting device about each of the independent axes to obtain desired movement of the aim point on the target object in the local coordinate system.