Systems and methods for controlling a robotic manipulator or associated tool
US11173597B2 · kind B2 · utility
55Cited by
11References
26Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Nov 9, 2018 |
| Grant date | Nov 16, 2021 |
| Priority date | — |
| Expiry date | Sep 18, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/37388
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.