초록 ▼

An apparatus and method for enabling an uncalibrated, model independent controller for a mechanical system using a dynamic quasi-Newton algorithm which incorporates velocity components of any moving system parameter(s) is provided. In the preferred embodiment, tracking of a moving target by a robot

An apparatus and method for enabling an uncalibrated, model independent controller for a mechanical system using a dynamic quasi-Newton algorithm which incorporates velocity components of any moving system parameter(s) is provided. In the preferred embodiment, tracking of a moving target by a robot having multiple degrees of freedom is achieved using an uncalibrated model independent visual servo control. Model independent visual servo control is defined as using visual feedback to control a robot's servomotors without a precisely calibrated kinematic robot model or camera model. A processor updates a Jacobian and a controller provides control signals such that the robot's end effector is directed to a desired location relative to a target on a workpiece.

대표청구항 ▼

[ What is claimed is:] [1.]1. A method for calculating control data for controlling a first parameter of a system, comprising the steps of:receiving data that represents a measurement of said first parameter in said system;translating said data using at least rate of change information of said first

[ What is claimed is:] [1.]1. A method for calculating control data for controlling a first parameter of a system, comprising the steps of:receiving data that represents a measurement of said first parameter in said system;translating said data using at least rate of change information of said first parameter using a dynamic quasi-Newton algorithm; andproducing a translation model, wherein said translation model enables control of said first parameter so that said first parameter converges toward a predefined second parameter.