System for controlling motion and constraint forces in a robotic system
US9364951B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 14, 2014 |
| Grant date | Jun 14, 2016 |
| Priority date | — |
| Expiry date | Dec 19, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40359
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Described is a system for controlling motion and constraint forces in a robotic system, the system infers constraints, at each time step, from a sensed state of robot/environment interactions. The inferred constraints are appended to known internal robot constraints to generate constrained dynamics. Properties associated with the constrained dynamics are determined provided to a controller. Inequality conditions associated with maintaining desired robot/environment interactions are also determined. A set of equality conditions based on the inequality conditions are then specified. The set of equality conditions are aggregated with any internal robot constraints to generate aggregated conditions that are provided to the controller. Joint torque commands are then generated for the robot based on the aggregated conditions and a specified task and null space motion command. Finally, the robot is actuated based on the joint torque commands.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.