Transformation mode switching for a real-time robotic control system
US11904473B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 30, 2019 |
| Grant date | Feb 20, 2024 |
| Priority date | — |
| Expiry date | Dec 22, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39346
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing transformation mode switching in a robotics control system. One of the methods includes receiving data representing a state machine that defines one or more portions of a robotics task; executing a first control loop corresponding to a first node of the state machine, wherein executing the first control loop comprises providing commands to the robotic components computed from a first coordinate transformation process; determining, based on one or more status messages, that an exit condition for the first node has been satisfied; performing a mode switch between the first coordinate transformation process and a different second coordinate transformation process; and executing a second control loop corresponding to a second node of the state machine, wherein executing the second control loop comprises providing commands to the robotic components computed from the second coordinate transformation process.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.