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.)

1. A method for calculating joint torques applied by actuators to perform movement control of a robotic arm having a DoF with several degrees of freedom,

the method comprises the following steps:

(a) providing (S1), by a trajectory generator, a trajectory vector x specifying a desired trajectory as follows: the desired trajectory comprises a position, a velocity, and an acceleration of the robotic arm for each degree of freedom DoF;

(b) mapping (S2) the trajectory vector x to a corresponding potential representation vector a that captures the intrinsic properties of the robotic arm using basis functions A with trained parameters;

(c) multiplying (S3) the potential representation vector a with the trained core tensor G to calculate the joint torque t for each degree of freedom DoF.

2. The method of claim 1, wherein each joint torque t is calculated as a sum over a weighted outer product of the potential representation vectors a.

3. The method of claim 1, wherein each joint torque t is calculated as a weighted inner product of the potential representation vectors a.

4. The method according to any of the preceding claims 1 to 3, wherein the basis functions A comprise continuous basis functions.

5. The method of claim 4, wherein the basis function A comprises:

the function of the gaussian base is used to determine,

linear basis functions and/or

A polynomial basis function.

6. The method according to any of the preceding claims 1 to 5, wherein the trajectory vector x comprises:

joint position vector x₁，

Velocity vector x of joint₂And/or

Joint acceleration vector x₃。

7. The method of any of the preceding claims 1-6, wherein the basis functions A and the core tensor G are trained on a data set comprising joint torques t and corresponding trajectories.

8. The method of claim 7, wherein the data set is collected during movement of the robotic arm.

9. The method of claim 7, wherein the basis function A is trained using a maximum likelihood scheme.

10. The method according to any of the preceding claims 1 to 9, wherein the calculated joint torque t is applied to the joints of the robot arm by actuators to perform feed-forward or feedback control of the movement of the robot arm.

11. A controller for performing motion control of a robot arm having a DoF with a plurality of degrees of freedom,

the controller (1) includes:

(a) a trajectory generator (1A) configured to provide a trajectory vector x specifying a desired trajectory of the robotic arm for each degree of freedom DoF;

(b) a calculation unit (1B) adapted to map the generated trajectory vector x to a corresponding potential representation vector a capturing intrinsic properties of the robotic arm using basis functions A with trained parameters, and further configured to multiply the potential representation vector a with a trained core tensor G to calculate the joint torque t for each degree of freedom DoF.

12. The controller of claim 11, wherein the controller (1) is connected to an actuator (2), the actuator (2) being controlled by the controller (1) and configured to apply the calculated joint torque t to a joint of the robot arm to control its movement.

13. A robot system comprising at least one robot arm having a joint to which a joint torque t is applied by an actuator (2) controlled by a controller (1) according to claim 11 or 12.

14. The robot system according to claim 13, wherein the controller (1) is adapted to perform feed-forward or feedback control of the movement of the robot arm of the robot system.