Hybrid robot motion task level control system
US6456901B1 · kind B1 · utility
Inventors
Key dates
| Filing date | Apr 20, 2001 |
| Grant date | Sep 24, 2002 |
| Priority date | — |
| Expiry date | Apr 20, 2021 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1607
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A hybrid control system is provided for controlling the movement of a robot. The hybrid control system includes a singularity detector; a task level controller that receives a motion plan and determines a first set of control commands which are defined in a task space; and a joint level controller that receives the motion plan and determines a second set of control commands which are defined in a joint space. The singularity detector monitors the movement of the robot and detects robot movement in a region about a singularity configuration. When robot movement occurs outside of this region, the task level controller is operable to issue the first set of control commands to the robot. When the robot movement occurs inside of this region, the joint level controller is operable to issue the second set of control commands to the robot. In this way, the hybrid control system ensures feasible robot motion in the neighborhood of and at kinematic singularity configuration.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.