Limiting arm forces and torques
US11999059B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 4, 2021 |
| Grant date | Jun 4, 2024 |
| Priority date | — |
| Expiry date | Jan 7, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42289
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.