Coordinate mapping for motion control
AssigneeAltec Industries, Inc.
InventorsTimothy J. Mourlam, Jonathan Westin Sykes, Riley Gossling
Life of this patent
Estimating the term…
Abstract
Systems and methods for controlling motion of remotely operated equipment such that a motion path is automatically determined for a plurality of joints of the remotely operated equipment based on an updated target position input received from an operator, a current position of the remotely operated equipment, and predetermined parameters indicative of the geometry of the plurality of joints. An optimized motion path may be provided that avoids detected obstacles and joint singularities of the remotely operated equipment.
Claims20
A method of controlling motion of a remotely operated equipment communicatively coupled to at least one input device of an operator, the method comprising:
- receiving predetermined parameters based on one or more dimensions of the remotely operated equipment including a length of one or more members of the remotely operated equipment;
- receiving information indicative of a current position of the remotely operated equipment, the information comprising an angle of rotation of one or more joints of the remotely operated equipment;
- receiving a control signal from the at least one input device, the control signal indicative of an updated target position requested by the operator;
- determining a motion path for the remotely operated equipment by applying a closed-form inverse kinematics function based on the current position of the remotely operated equipment, the updated target position, and the predetermined parameters;
- updating a control system of the remotely operated equipment with the motion path,
- wherein the motion path comprises instructions for adjusting the angle of rotation of the one or more joints of the remotely operated equipment;
- responsive to receiving a user input, temporarily preventing motion of the remotely operated equipment;
- receiving an adjustment of a position of the at least one input device while the remotely operated equipment is locked in place;
- and
- resuming motion of the remotely operated equipment responsive to a subsequent user input from the at least one input device requesting to resume motion of the remotely operated equipment.
A system for remote motion control, the system comprising:
- a boom assembly communicatively coupled to at least one input device of an operator, the boom assembly comprising:
- a plurality of boom sections including a boom tip configured to be disposed in an energized environment;
- and
- one or more cylinders disposed at joints of the plurality of boom sections;
- a control system including at least one processor programmed to execute a method of controlling motion of the boom assembly, the method comprising:
- receiving predetermined parameters based on one or more dimensions of the boom assembly;
- receiving information indicative of a current position of the boom assembly, the information comprising:
- an extension of the one or more cylinders of the boom assembly;
- and
- an angle of rotation of the boom assembly;
- receiving a control signal from the at least one input device, the control signal indicative of an updated target position for the boom tip of the boom assembly requested by the operator,
- wherein the control signal is transmitted across an electrically isolated dielectric gap via one or more fiber optic cables;
- determining a motion path for the boom assembly based on the current position of the boom assembly, the updated target position for the boom tip, and the predetermined parameters;
- and
- updating the control system of the boom assembly with the motion path,
- wherein the motion path comprises instructions for adjusting the extension of the one or more cylinders of the boom assembly and instructions for adjusting the angle of rotation of the boom assembly.
A method of controlling motion of a robotic arm communicatively coupled to at least one input device of an operator, the at least one input device including a position sensitive controller configured to be held by the operator, the method comprising:
- receiving predetermined parameters based on one or more dimensions of the robotic arm including a length of one or more members of the robotic arm;
- receiving information indicative of a current position of the robotic arm, the information comprising an angle of rotation of the one or more members of the robotic arm;
- receiving a control signal from the at least one input device, the control signal indicative of an updated target position corresponding to a position of the position sensitive controller;
- determining a motion path for the robotic arm by applying a closed-form inverse kinematics function based on the current position of the robotic arm, the updated target position, and the predetermined parameters;
- updating a control system of the robotic arm with the motion path to synchronize motion of a point on the robotic arm with motion of the position sensitive controller;
- responsive to receiving a user input from the at least one input device, temporarily preventing motion of the robotic arm while a body position of the operator is adjusted;
- and
- resuming motion of the robotic arm responsive to a subsequent user input from the at least one input device requesting to resume motion of the robotic arm.
Dependencies are inferred from the claim text.