Programming and execution of force-based tasks with torque-controlled robot arms
US9186795B1 · kind B1 · utility
Inventors
Key dates
| Filing date | Jun 24, 2014 |
| Grant date | Nov 17, 2015 |
| Priority date | — |
| Expiry date | Jun 24, 2034 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/09
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic device may receive task information defining (i) a nominal trajectory for an end-effector coupled to a manipulator of the robotic device, and (ii) forces to be exerted by the end-effector along the nominal trajectory; determining, based on the task information, a modified trajectory that is offset from the nominal trajectory; determining, based on the modified trajectory and the forces, torques to be applied to the manipulator over time; causing the torques to be applied to the manipulator so as to cause the end-effector to follow the modified trajectory and substantially exert the forces along the modified trajectory; receiving force feedback information from a sensor coupled to the robotic device indicating respective forces being experienced by the end-effector at respective points along the modified trajectory; and adjusting the torques to be applied to the manipulator based on the force feedback information.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.