US 12,280,505 B2
Method and computer program product for controlling a robot
Johannes Englsberger, Wessling (DE); Gianluca Garofalo, Wessling (DE); and George Adrian Mesesan, Wessling (DE)
Assigned to DEUTSCHES ZENTRUM FÜR LUFT- UND RAUMFAHRT E.V., Bonn (DE)
Appl. No. 18/008,760
Filed by DEUTSCHES ZENTRUM FÜR LUFT-UND RAUMFAHRT E.V., Bonn (DE)
PCT Filed Jun. 10, 2021, PCT No. PCT/EP2021/065699
§ 371(c)(1), (2) Date Dec. 7, 2022,
PCT Pub. No. WO2021/250201, PCT Pub. Date Dec. 16, 2021.
Claims priority of application No. 10 2020 115 517.4 (DE), filed on Jun. 10, 2020.
Prior Publication US 2024/0261964 A1, Aug. 8, 2024
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1643 (2013.01) [B25J 9/1607 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for controlling a kinematically redundant robot in order to fulfill multiple tasks,
comprising the steps of using at least one passivity-based first controller module,
computing at least one task target description and at least one associated task mapping for the at least one first controller module,
computing at least one task weighting in the form of a task-specific symmetrical matrix Wk=ΨkMk−1, wherein the matrix Wk is composed of the inverse of the task inertia matrix Mk, where Mk=(JkM−1JkT)−1, Jk is the task Jacobian and M is the inertia matrix of the dynamic model of the robot, and a weighting scalar Ψk for independently weighting different tasks with respect to each other, and
integrating the at least one first controller module into an overall controller, using the at least one task weighting matrix Wk which is combined in the form of sub-matrices into a symmetrical and block-diagonal overall weighting matrix W.