Constraining robotic manipulators with redundant degrees of freedom
US9221172B2 · kind B2 · utility
29Cited by
12References
10Claims
0Family size
Assignee
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Key dates
| Filing date | Sep 17, 2013 |
| Grant date | Dec 29, 2015 |
| Priority date | — |
| Expiry date | Jan 3, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40365
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Redundant robotic manipulators may be constrained in their motions during operation in a gravity-compensated mode by applying, in addition to gravity-compensating torques, constraining torques to one or more of the joints. The constraining torques may urge the manipulator to a specified canonical posture, and may be modeled by virtual springs attached to the constrained joints.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.