Position/force control of a flexible manipulator under model-less control
US10434644B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 2, 2015 |
| Grant date | Oct 8, 2019 |
| Priority date | — |
| Expiry date | Jan 1, 2036 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J18/06
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method includes receiving position information and force information, providing control commands to a steering mechanism of a continuum manipulator based on the position information and the force information, updating a control matrix based on the position information and the provided control commands, and providing updated control commands to the steering mechanism based on the updated control matrix. A continuum manipulator includes a body, a steering mechanism configured to steer the body, sensors, and a controller. The sensors include a position sensor to detect a position of the body and a force sensor to detect a force against the body. The controller is configured to receive position information from the position sensor and force information from the force sensor, provide control commands to the steering mechanism based on the position information and the force information, and update a control matrix based on the position information and the provided control commands.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.