Tool position determination in a robotic appendage
AssigneeIntel Corporation
InventorsJulio Zamora Esquivel, Leobardo Campos Macias, Edgar Macias Garcia
Life of this patent
Estimating the term…
Abstract
System and techniques for tool position determination in a robotic appendage are described herein. A robotic appendage is put through a rotational movement to induce acceleration in a tool mounted to the appendage. A model for acceleration is created from positional kinematics of the appendage. A measurement of acceleration is taken at the tool and fit to the model to determine distance from the axis of rotation to the tool. The distance is provided for use in control or modeling of the robotic appendage.
Claims25
A device for determining a position of a tool affixed to a robotic appendage, the device comprising:
- an interface configured to communicate with the robotic appendage;
- processing circuitry configured to:
- communicate an instruction, via the interface, to perform a rotational movement of a portion of the robotic appendage to determine the position of the tool, the rotational movement being defined by rotational positions about an axis;
- generate a model of tool acceleration for the tool along the rotational movement that predicts acceleration of the tool at a variety of distances from the axis;
- obtain acceleration measurements from a sensor affixed to the tool, the acceleration measurements being taken during the rotational movement;
- and
- fit the acceleration measurements to the model of tool acceleration to determine a distance from the axis to the tool.
A non-transitory machine-readable medium including instructions for determining a position of a tool affixed to a robotic appendage, the instructions, when executed by processing circuitry, cause the processing circuitry to:
- communicate an instruction to perform a rotational movement of a portion of the robotic appendage to determine the position of the tool, the rotational movement being defined by rotational positions about an axis;
- generate a model of tool acceleration for the tool along the rotational movement that predicts acceleration of the tool at a variety of distances from the axis;
- obtain acceleration measurements from a sensor affixed to the tool, the acceleration measurements being taken during the rotational movement;
- and
- fit the acceleration measurements to the model of tool acceleration to determine a distance from the axis to the tool.
Dependencies are inferred from the claim text.