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AssigneeDexterity, Inc.
InventorsZhouwen Sun, Michael Fisher, Robert Holmberg, Harry Zhe Su, Talbot Morris-Downing, Timothy Ryan, Samir Menon
Estimating the term…
A robotic system is disclosed which includes a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of serially connected links and joints connected to the base; an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location; and a processor configured to control a first set of motors associated with the n degrees of freedom of the robotic arm and an enabler joint motor comprising the enabler joint assembly to control operation of the robotic arm within an extended operating space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.
A robotic system, comprising:
A method of controlling a robotic system comprising a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of serially connected links and joints connected to the base at a proximal end and terminating at a free moving distal end, and an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location, the method comprising using a processor to control a first set of motors, each motor being associated with a corresponding one of the n degrees of freedom of the robotic arm, and an enabler joint motor comprising the enabler joint assembly to control operation of the robotic arm within an extended operating space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.
A computer program product, embodied in a non-transitory computer readable medium, to control a robotic system comprising a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of serially connected links and joints connected to the base at a proximal end and terminating at a free moving distal end, and an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location, the computer program product comprising computer instructions to control a first set of motors, each motor being associated with a corresponding one of the n degrees of freedom of the robotic arm, and an enabler joint motor comprising the enabler joint assembly to control operation of the robotic arm within an extended operating space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.
Dependencies are inferred from the claim text.