US 11,951,630 B2
Systems and methods for providing a control solution for an actuator
Oussama Khatib, Stanford, CA (US)
Assigned to The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US)
Filed by THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY, Stanford, CA (US)
Filed on Apr. 23, 2021, as Appl. No. 17/238,956.
Application 17/238,956 is a division of application No. 15/842,825, filed on Dec. 14, 2017, granted, now 10,987,808.
Claims priority of provisional application 62/434,288, filed on Dec. 14, 2016.
Prior Publication US 2021/0237272 A1, Aug. 5, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 13/02 (2006.01)
CPC B25J 9/1669 (2013.01) [B25J 9/1612 (2013.01); B25J 13/025 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method of providing a control solution for an actuator of a system, comprising:
receiving, with a controller of the system, a first model of the actuator;
receiving a second model of an arm;
receiving a third model of a mobile platform; and
generating, based on the first model, the second model, and the third model, the control solution;
wherein:
the arm is connected to the platform and to the actuator;
the platform is subjected to at least one unpredictable force; and
the generating of the control solution uses operational space control.