Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2005-01-19
2009-11-24
Tran, Khoi (Department: 3664)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S189000, C700S190000, C700S217000, C700S218000, C700S254000, C700S258000, C700S259000, C700S260000, C700S261000, C700S262000, C901S015000, C901S016000, C901S021000, C901S039000, C318S560000, C318S568100, C701S023000
Reexamination Certificate
active
07623944
ABSTRACT:
A method for estimating joint load at a joint of a segment. The method comprises the steps of receiving kinematic data, determining a modified acceleration using at least the kinematic data, estimating a joint load using at least the modified acceleration; and determining simulated kinematic data for the segment using at least the joint load. The method addresses the problems with conventional inverse dynamics analysis by providing a forward dynamics solution for estimation of joint loads that is stable, guaranteed to converge, computationally efficient, and does not require acceleration computations. According to one embodiment, a joint load is estimated recursively.
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Duell Mark
Fenwick & West LLP
Honda Motor Co. Ltd.
Marc McDieunel
Tran Khoi
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