阅读说明：本技术 用于执行机器人手臂的移动控制的方法和装置 (Method and apparatus for performing movement control of robot arm ) 是由 S.拜尔 V.特雷斯普 于 2018-07-05 设计创作，主要内容包括：一种用于计算由致动器(2)施加的关节扭矩以执行对具有若干自由度DoF的机器人手臂的移动控制的方法,该方法包括如下步骤：由轨迹生成器提供(S1)轨迹向量x,轨迹向量x指定机器人手臂针对每个自由度DoF的期望轨迹；将轨迹向量x映射(S2)到对应的潜在表示向量a,潜在表示向量a使用具有经训练的参数的基函数A捕获机器人手臂的固有性质；将潜在表示向量a与经训练的核心张量G相乘(S3),以计算针对每个自由度DoF的关节扭矩t。(A method for calculating joint torques applied by actuators (2) to perform movement control of a robot arm having DoF with several degrees of freedom, the method comprising the steps of: providing (S1), by a trajectory generator, a trajectory vector x specifying a desired trajectory of the robotic arm for each degree of freedom DoF; mapping (S2) the trajectory vector x to a corresponding potential representation vector a, the potential representation vector a capturing the intrinsic properties of the robot arm using basis functions a with trained parameters; the latent representation vector a is multiplied by the trained core tensor G (S3) to calculate the joint torque t for each degree of freedom DoF.)