Active and semi-active damping
AssigneeIntuitive Surgical Operations, Inc.
InventorsRoman L. Devengenzo, Bruce M. Schena, David W. Robinson
Life of this patent
Estimating the term…
Abstract
Techniques for active and semi-active damping include a system including a processor and a linkage having a first link, a second link, and a damper coupling the second link to the first link. The processor is configured to receive a movement command for moving the linkage; determine one or more first vibrations expected to occur in the linkage as a result of performing the movement command; determine a movement profile for moving the linkage to reduce the one or more first vibrations; and drive, using a drive component, the linkage to move according to the movement profile.
Claims20
A system comprising:
- a linkage comprising a first link, a second link, and a damper coupling the second link to the first link;
- a processor configured to:
- receive a movement command for moving the linkage;
- determine one or more first vibrations expected to occur in the linkage as a result of performing the movement command;
- determine a movement profile for moving the linkage to reduce the one or more first vibrations;
- and
- drive, using a drive component, the linkage to move according to the movement profile.
A method of controlling movement of a system comprising a linkage having a first link, a second link, and a damper coupling the first link to the second link, the method comprising:
- receiving, by a processor, a movement command for moving the linkage;
- determining, by the processor, one or more first vibrations expected to occur in the linkage as a result of performing the movement command;
- determining, by the processor, a movement profile for moving the linkage to reduce the one or more first vibrations;
- and
- driving, by the processor using a drive component, the linkage to move according to the movement profile.
A non-transitory tangible media storing computer-readable instructions, which when executed by a processor, cause the processor to perform a method comprising:
- receiving a movement command for moving a linkage, the linkage comprising a first link, a second link, and a damper coupling the first link to the second link;
- determining one or more first vibrations expected to occur in the linkage as a result of performing the movement command;
- determining a movement profile for moving the linkage to reduce the one or more first vibrations;
- and
- driving, using a drive component, the linkage to move according to the movement profile.
Dependencies are inferred from the claim text.