Control system and method for robotic systems

A control system for a robotic system including one or more input controls, each including a plurality of input control sections sequentially coupled by input control joints, the control system comprising a processing circuitry configured to:

• obtain:
• (a) a previous input control configuration of at least one input control of the one or more input controls, and
• (b) a current input control configuration of said at least one input control;
• wherein each configuration of said at least one input control is defined by one or more input control angles of the one or more input control joints of the input control joints;
• identify a misalignment between the previous input control configuration and the current input control configuration of said at least one mechanical arm by comparing the configurations;
• and,
• upon identification of the misalignment, perform an action.

A control method for a robotic system consisting of one or more input controls, each including a plurality of input control sections sequentially coupled by input control joints, and one or more mechanical arms, each associated with a respective input control of the one or more input controls and includes a plurality of segments coupled to one another, wherein each segment is configured to imitate an angle of a respective pair of input control sections, coupled by an input control joint, the control method comprising:

• obtaining:
• (a) a current input control configuration of at least one input control of the one or more input controls, and
• (b) a current mechanical arm configuration of at least one mechanical arm of the one or more mechanical arms;
• wherein:
• (i) one or more segments of the plurality of segments define the current mechanical arm configuration, and (ii) one or more input control angles of one or more input control joints of the input control joints define the current input control configuration;
• identifying a misalignment between at least one input control of the one or more input controls and its respective at least one mechanical arm of the one or more mechanical arms by comparing the current input control configuration and the current mechanical arm configuration of the at least one input control of the one or more input controls and its respective at least one mechanical arm of the one or more mechanical arms;
• and, upon identification of the misalignment, performing an action.

A non-transitory computer readable storage medium having computer readable program code embodied therewith, the computer readable program code, executable by at least one processor to perform a control method, the method comprising:

• obtaining:
• (a) a current input control configuration of at least one input control of the-one or more input controls, and
• (b) a current mechanical arm configuration of at least one mechanical arm of the one or more mechanical arms;
• wherein:
• (i) one or more segments of a plurality of segments define the current mechanical arm configuration, and (ii) one or more input control angles of one or more input control joints of a plurality of input control joints define the current input control configuration;
• identifying a misalignment between at least one input control of the one or more input controls and its respective at least one mechanical arm of the one or more mechanical arms by comparing the current input control configuration and the current mechanical arm configuration of the at least one input control of the one or more input controls and its respective at least one mechanical arm of the one or more mechanical arms;
• and, upon identification of the misalignment, performing an action.