Applying workspace limitations in a velocity-controlled robotic mechanism

US8676382B2 · 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 Administration · US

Inventors

• Muhammad E. Abdallah · Houston, US
• Brian Hargrave · Dallas, US
• Robert Platt · Houston, US

Key dates

• Filing date: May 26, 2010
• Grant date: Mar 18, 2014
• Expiry date: Jul 27, 2031

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J9/1612
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position.