The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 24, 2015
Filed:
Feb. 26, 2010
Alexandre Nikolov Pechev, Farnham, GB;
Alexandre Nikolov Pechev, Farnham, GB;
The University of Surrey, Guilford, Surrey, GB;
Abstract
A real-time method for controlling a system, the system including a plurality of controlling means each having at least one variable parameter (q) and a controlled element having a trajectory which is controlled by the controlling means, wherein the trajectory is related to the variable parameters by a variable matrix, the method comprising defining a control transfer matrix (K) relating the variable parameters dq to the trajectory dx, and using a feedback loop in which a feedback term is computed that is dependent on an error (e) which is the difference between the desired trajectory (dxd) which can have an arbitrary dimension specified as (m) and a current trajectory (dx).
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