Redundant underactuated robot with multi-mode control framework
US10583557B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 10, 2017 |
| Grant date | Mar 10, 2020 |
| Priority date | — |
| Expiry date | Feb 2, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40297
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic system includes a jointed mechanism, position sensors, and a controller. The mechanism has an end-effector, and further includes actively-controlled joints and passive joints that are redundant with the actively-controlled joints. The position sensors are operable for measuring joint positions of the passive joints. The controller is in communication with the position sensors, and is programmed to execute a method to selectively control the actively-controlled joints in response to the measured joint positions using force control and/or a modeled impedance of the robotic mechanism. Possible control modes in impedance control include an Autonomous Mode in which an operator does not physically interact with the end-effector and a Cooperative Control Mode in which the operator physically interacts with the end-effector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.