METHOD AND SYSTEM FOR THE HIERARCHICAL CONTROL IN REAL TIME OF AN ARTICULATED STRUCTURE UTILISING A LIMITED NUMBER OF MOVEMENT SENSORS
作者： Micaelli Alain , Andriot Claude , Weistroffer Vincent
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摘要: The invention relates to a method and system for real-time control of an articulated mass structure from data representative the movement object. comprises following steps: - acquiring measurements made using reduced number sensors attached object; determining target points acquired; -determining objectives fulfil controlling structure, being arranged in hierarchy highest level objective reaching by structure; determining, resolution optimisation problem, command (CM) be applied polyarticulated hierarchy.
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