Systems and methods for avoiding collisions between manipulator arms using a null-space
US9345544B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 31, 2013 |
| Grant date | May 24, 2016 |
| Priority date | — |
| Expiry date | Dec 18, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45117
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.