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:
Oct. 27, 2015
Filed:
Oct. 19, 2012
Applicant:
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Inventors:
Vijay Shilpiekandula, Boston, MA (US);
Matthew Brand, Newton, MA (US);
Manohar Srikanth, Cambridge, MA (US);
Scott A. Bortoff, Brookline, MA (US);
Assignee:
Mitsubishi Electric Rsearch Laboratories, Inc., Cambridge, MA (US);
Attorneys:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G05B 11/01 (2006.01); G05B 15/00 (2006.01); G06F 19/00 (2011.01); G05B 13/02 (2006.01); G01N 33/48 (2006.01); G01N 33/08 (2006.01); G05B 19/25 (2006.01); G05B 19/33 (2006.01); G05B 13/00 (2006.01); G05B 19/19 (2006.01);
U.S. Cl.
CPC ...
G05B 19/19 (2013.01); G05B 2219/25472 (2013.01); G05B 2219/41194 (2013.01); G05B 2219/41195 (2013.01); G05B 2219/50218 (2013.01);
Abstract
A method determines trajectories of redundant actuators of a machine including a first actuator and a second actuator. The method determines a first trajectory of the first actuator tracking a reference trajectory with an error tolerance, wherein the error tolerance is a function of a constraint of the second actuator, and determines a second trajectory of the second actuator based on a difference between the reference trajectory and the first trajectory.