Redundant underactuated robot with multi-mode control framework
US11247332B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Jan 27, 2020 |
| Grant date | Feb 15, 2022 |
| Priority date | — |
| Expiry date | Sep 1, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40297
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A jointed mechanism includes a passive pendulum system attached to and suspended from the multi-axis robot. The system includes one or more position sensors configured to measure a joint angle on the pendulum system, at least one arm, and an end-effector attached to a distal end of the pendulum system. A controller implements a method to selectively control motion of the robot in a plurality of control modes. The control modes include a Cooperative Mode and an Autonomous Mode. The controller is configured to detect contact with the end-effector when operating in the Autonomous Mode, and to automatically initiate a control action in response to the contact. The pendulum system may be a parallelogram arrangement.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.