1. A database apply-managing system, comprising:
at least one database; and
a database access module, which transforms specific data into general format data and accesses the general format data in the database.
2. The system of claim 1, wherein the database access module further retrieves the general format data from the database and then stores the general format data into another database.
3. The system of claim 1, wherein the general format data has a general format supported by plural kinds of databases.
4. The system of claim 1, wherein the general format data has a general format, and the general format is at least one selected from the group consisting of a string format and a number format.
5. The system of claim 1, wherein the database processes the general format data stored in the database according to a standard language.
6. The system of claim 1, wherein the database comprises a property file storing parameters of the database.
7. The system of claim 6, wherein the parameters stored in the property file at least comprises a user ID parameter and a password parameter.
8. The system of claim 6, wherein the property file is a text file.
9. The system of claim 6, wherein the database access module accesses a first database to retrieve the specific data according to a first property file of the first database, transforms the specific data into the general format data, and then accesses a second database to store the general format data into the second database according to a second property file of the second database.
10. The system of claim 9, wherein the database access module creates a second specific column in the second database, the second specific column is the same as a first specific column in the first database for storing the specific data, and the database access module then stores the general format data into the second specific column of the second database.
11. The system of claim 1, wherein the database access module retrieves the specific data from another database, transforms the specific data into the general format data, and then stores the general format data to the database.
12. A database apply-managing method, comprising:
providing at least one database;
transforming specific data into general format data; and
accessing the general format data in the database.
13. The method of claim 12, further comprising:
retrieving the general format data from the database; and
storing the general format data into another database.
14. The method of claim 12, wherein the general format data has a general format, and the general format is supported by plural kinds of databases and is at least one selected from the group consisting of a string format and a number format.
15. The method of claim 12, wherein the database comprises a property file storing parameters of the database.
16. The method of claim 15, wherein the parameters stored in the property file at least comprises a user ID parameter and a password parameter.
17. The method of claim 15, wherein the property file is a text file.
18. The method of claim 15, wherein the step of providing at least one database comprises providing a first database and a second database, and the step of accessing the general format data in the database comprises:
accessing the first database to retrieve the specific data according to a first property file of the first database, and
accessing the second database to store the general format data into the second database according to a second property file of the second database.
19. The method of claim 18, wherein the step of accessing the second database to store the general format data into the second database according to the second property file of the second database comprises:
creating a second specific column in the second database, wherein the second specific column is the same as a first specific column in the first database for storing the specific data; and
storing the general format data into the second specific column of the second database.
20. The method of claim 12, wherein the step of accessing the general format data stored in the database comprises:
retrieving the specific data from another database;
transforming the specific data into the general format data; and
storing the general format data to the database.
21. A recording medium, which records a computer readable database apply-managing program, the program comprising:
a connecting program segment for the computer to connect to at least one database; and
a database access program segment for the computer to transform specific data into general format data, and to access the general format data in the database.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for controlling a robotic manipulator, comprising the steps of:
storing a reference path(rss(t));
determining reference increments (\u0394qss(t)) while following the path;
providing a processor with a model of dynamics of said manipulator represented as a mathematical relation between positions of said manipulator, time derivatives of said positions, and device forces of said manipulator
M
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=
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in said processor, automatically determining the reference increments based on said dynamics of the manipulator, represented in said model, while following the reference path, by determining a reference motion \u0394rs(t) in said processor while following said path for a time increment (\u0394t), by interpolation between stored positions or joint coordinates or by evaluating a stored function, and
when drive forces that are necessary to realize a reference motion \u0394rs(t) exceed tolerable drive forces (\u03c4zul), automatically determining said reference increments \u0394qs(s(t)) so as to differ from the reference motion \u0394rs(t) by a linear mapping \u0394qs(t)=\u03a6(\u0394rs(t)) of the reference motion, wherein the linear mapping maps the reference increments within a predetermined tube ((1\u2212\u03b81)\xb7\u0394rs+\u03b82\xb7n\u0394r+\u03b83\xb7b\u0394r) enclosing the reference motion \u0394rs(t) (\u03c4zul); and
emitting a control signal at an output of the processor that controls movement of said manipulator with respect to said path;
wherein
M is a mass matrix;
q(t) is a vector of reference positions in joint coordinates;
h is a vector embodying weight, gyroscopic, and frictional forces;
\u03c4 is a vector of drive forces,
(\u03b81, \u03b82, \u03b83) are parameters for deviations from the reference motion; and
n\u0394r, b\u0394r are normal and bi-normal vectors to the reference motion.
2. A method according to claim 1, further comprising generating the stored reference path (rs) to include at least one of positions (rs, i), representing locations (xi, yi, zi) andor orientations (\u03b1i, \u03b2i, \u03b3i), of a manipulator-fixed reference coordinate system (TCP), joint coordinates (q1, i, . . . qa, i) and a parameterized function
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.
3. A method according to claim 1, further comprising determining the reference increments \u0394qs(s(t)) in said processor based on a scaled reference motion (\u0394rs(t))((1\u2212\u03b8)\xb7\u0394rs(t)=J\xb7\u0394qs(t)); wherein
J is a Jacobian matrix; and
\u03b8 is a reduction factor.
4. A method according to claim 1, further comprising determine said reference increments\u0394qs(s(t)) in said processor so as to differ from the reference motion\u0394rs(t) when said drive forces that are necessary to realize the reference motion exceed tolerable velocities (vzul).
5. A method according to claim 4, further comprising determining a reference velocity
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for the time increment (\u0394t) so as to differ from a reference motion velocity
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when velocities that are necessary to realize the reference motion exceed said tolerable velocities (vzul).
6. A method according to claim 1, further comprising determining the reference increments in said processor by an optimization.
7. A method according to claim 6 further comprising, in said optimization, employing an optimization criterion representing a deviation ((1\u2212\u03b8)\xb7\u0394rs(t)\u2212Jq(t)\xb7\u0394qs(t)) between the reference motion and the reference increments, a reserve
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between drive forces which are necessary to realize the reference motion and tolerable drive forces, a reserve
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between a reference velocity for the time increment and a tolerable velocity, a deviation
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between reference velocity for the time increment and reference joint velocity, a reserve between a pose which is reached by realizing the reference increments and a singular pose, drive forces which are necessary to realize the reference motion andor a distance between a pose which is reached by realizing the reference increments and a preferred pose.
8. A method according to claim 6, further comprising employing, in said optimization, criteria selected from the group consisting of penalty functions, equality constraints, and inequality constraints.
9. A method according to claim 4, further comprising redundantly configuring the manipulator with respect to at least in one section of the stored reference path.
10. A control device for a robotic manipulator comprising:
a memory in which a reference path (rss(t)) and a linearized mode
M
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\u2003of dynamics of the manipulator are stored;
a processor being configured to access the reference path and the model in said memory;
said processor being configured to automatically determine reference increments (\u0394qss(t)) ((1\u2212\u03b81)\xb7\u0394rs+\u03b82\xb7n\u0394r+\u03b83\xb7b\u0394r) (\u0394rs(t); based on said dynamics of the manipulator, represented in said model, while following the reference path, and
when drive forces that are necessary to realize a reference motion \u0394rs(t) exceed tolerable drive forces(\u03c4zul), automatically determine the reference increments \u0394qs(s(t)) so as to differ from the reference motion \u0394rs(t) by a linear mapping \u0394qs(t)=\u03a6(\u0394rs(t)) of the reference motion, wherein the linear mapping maps the reference increments within a predetermined tube ((1\u2212\u03b81) \xb7\u0394rs+\u03b82\xb7n\u0394r+\u03b83\xb7b\u0394r) enclosing the reference motion \u0394rs(t) (\u0394rs(t); (\u0394qs(t)=\u03a6(\u0394rs(t))) (\u03c4zul); and
said processor being configured to emit a control signal at an output of the processor that controls movement of said manipulator with respect to said path;
wherein
M is a mass matrix;
q(t) is a vector of reference positions in ioint coordinates;
h is a vector embodying weight, gyroscopic, and frictional forces;
\u03c4 is a vector of drive forces,
(\u03b81, \u03b82, \u03b83) are parameters for deviations from the reference motion; and
n\u0394r, b\u0394r are normal and bi-normal vectors to the reference motion.
11. A non-transitory, computer-readable data storage medium encoded with programming instructions, said medium being loadable into a processor that controls a robotic manipulator, said processor having access to a memory in which a reference path for movement of said manipulator is stored, and said programming instructions causing said processor to:
access a linearized mode
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+
h
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\u2003of dynamics of said manipulator represented as a mathematical relation between positions of said manipulator, time derivatives of said positions, and device forces of said manipulator; and
automatically determine reference increments (\u0394qss(t)) ((1\u2212\u03b81)\xb7\u0394rs+\u03b82\xb7n\u0394r+\u03b83\xb7b\u0394r) \u0394rs(t) based on said dynamics of the manipulator, represented in said model, while following the reference path, by determining a reference motion \u0394rs(t) in said processor while following said path for a time increment (\u0394t), by interpolation between stored positions or joint coordinates or by evaluating a stored function, and
when drive forces that are necessary to realize a reference motion \u0394rs(t) exceed tolerable drive forces(\u03c4zul), automatically determine said reference increments \u0394qs(s(t)) so as to differ from the reference motion \u0394rs(t) by a linear mapping \u0394qs(t)=\u03a6(\u0394rs(t)) of the reference motion, wherein the linear mapping maps the reference increments within a predetermined tube ((1\u2212\u03b81)\xb7\u0394rs+\u03b82\xb7n\u0394r+\u03b83\xb7b\u0394r) enclosing the reference motion \u0394rs(t) (\u03c4zul); and
emit a control signal at an output of the processor that controls movement of said manipulator with respect to said path;
wherein
M is a mass matrix;
q(t) is a vector of reference positions in joint coordinates;
h is a vector embodying weight, gyroscopic, and frictional forces;
\u03c4 is a vector of drive forces,
(\u03b81, \u03b82, \u03b83) are parameters for deviations from the reference motion; and
n\u0394r, b\u0394r are normal and bi-normal vectors to the reference motion.
12. A method as claimed in claim 6, further comprising determining the reference increments in said processor by a multi-criteria optimization.