Apparatus and method for planning contact-interaction trajectories
US11548150B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 29, 2020 |
| Grant date | Jan 10, 2023 |
| Priority date | — |
| Expiry date | Apr 10, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40474
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An apparatus and a method for planning contact-interaction trajectories are provided. The apparatus is a robot that accepts contact interactions between the robot and the environment. The robot stores a dynamic model representing geometric, dynamic, and frictional properties of the robot and the environment, and a relaxed contact model to representing dynamic interactions between the robot and the object via virtual forces. The robot further determines, iteratively until a termination condition is met, a trajectory, associated control commands for controlling the robot, and virtual stiffness values by performing optimization reducing stiffness of the virtual force and minimizing a difference between the target pose of the object and a final pose of the object moved from the initial pose. Further, an actuator moves a robot arm of the robot according to the trajectory and the associated control commands.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.