Multiple priority operational space impedance control

US8170718B2 · kind B2 · utility

Assignees

• GM GLOBAL TECHNOLOGY OPERATIONS LLC · US
• The United States of America as represented by the Administrator of the National Aeronautics and Space Administrations · US

Inventors

• Muhammad E. Abdallah · Houston, US
• Matthew J. Reiland · Oxford, US
• Robert Platt · Houston, US
• Charles W. Wampler, II · Birmingham, US
• Brian Hargrave · Dallas, US

Key dates

• Filing date: Dec 18, 2008
• Grant date: May 1, 2012
• Expiry date: Oct 4, 2030

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40352
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.