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US 10,562,191 B2Granted
Method of controlling devices with sensation of applied force
AssigneeRobomotive Laboratories LLC
InventorBrett J. Pipitone
Life of this patent
Estimating the term…
Abstract
The inventive technology eliminates the need for force sensors on a robotic manipulator while also improving feel by incorporating force sensors on the corresponding robotic input device. Position of the manipulator is used to determine positioning of the input device; therefore, rather than manipulator position lagging the input device position (as in conventional robotic systems), the opposite is true, so that input device position lags manipulator position. Through a combination of input device force control and manipulator position feedback, a sense of feel is achieved through use of an “effort sensor” mounted at a “control point” on the input device and use of a “position feedback force control” scheme.
Claims15
A robotic control system comprising:
- a robotic manipulator having at least one manipulator position sensor, and at least one manipulator actuator that controls an effort applied by at least one manipulator movable physical member;
- a robotic input controller that is manipulated by a human operator, said robotic input controller having at least one controller position sensor, at least one controller actuator that controls a position of at least one controller movable physical member proximal to a control point, and an effort sensor that measures effort applied by the human operator and which is located proximal to said control point;
- and
- a system controller having a processing circuit, a memory circuit including instructions executable by the processing circuit, and an interface circuit for communicating signals with
- said robotic manipulator, and
- said robotic input controller;
- wherein:
- said processing circuit is configured to execute:
- a position feedback algorithm for controlling said position of the at least one controller movable physical member of the robotic input controller based upon inputs from both the robotic input controller and the robotic manipulator, and
- an effort controller algorithm for controlling said effort applied by the at least one manipulator movable physical member of the robotic manipulator based upon a signal produced by said effort sensor of the robotic input controller.
7 more elements
A robotic control system comprising:
- a robotic manipulator having at least one manipulator position sensor, and at least one manipulator actuator that controls an effort applied by at least one manipulator movable physical member;
- a robotic input controller that is manipulated by a human operator, said robotic input controller having at least one controller position sensor, at least one controller actuator that controls a position of at least one controller movable physical member proximal to a control point, and an effort sensor that measures effort applied by the human operator and which is located proximal to said control point;
- and
- a system controller having a processing circuit, a memory circuit including instructions executable by the processing circuit, and an interface circuit for communicating signals with
- said robotic manipulator, and
- said robotic input controller;
- wherein:
- said processing circuit is configured
- to control said position of the at least one controller movable physical member of the robotic input controller based upon inputs from both the robotic input controller and the robotic manipulator,
- to control said effort applied by the at least one manipulator movable physical member of the robotic manipulator based upon a signal produced by said effort sensor of the robotic input controller;
- and
- wherein, a position of said robotic manipulator actuator is not directly controlled, and a position of said at least one manipulator movable physical member is not directly controlled.
9 more elements
A robotic control system comprising:
- a robotic manipulator having at least one manipulator position sensor, and at least one manipulator actuator that controls an effort applied by at least one manipulator movable physical member;
- a robotic input controller that is manipulated by a human operator, said robotic input controller having at least one controller position sensor, at least one controller actuator that controls a position of at least one controller movable physical member proximal to a control point, and an effort sensor that measures effort applied by the human operator and which is located proximal to said control point;
- and
- a system controller having a processing circuit, a memory circuit including instructions executable by the processing circuit, and an interface circuit for communicating signals with
- said robotic manipulator, and
- said robotic input controller;
- wherein:
- said processing circuit is configured to execute:
- a position feedback algorithm for controlling said position of the at least one controller movable physical member of the robotic input controller wherein said position feedback algorithm comprises an Integral controller;
- and
- an effort controller algorithm for controlling said effort applied by the at least one manipulator movable physical member of the robotic manipulator based upon a signal produced by said effort sensor of the robotic input controller.
8 more elements
Dependencies are inferred from the claim text.