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AssigneesU.S.A. as represented by the Administrator of the National Aeronautics and Space Administration, GM Global Technology Operations LLC
InventorsMuhammad E. Abdallah, Brian Hargrave, John D. Yamokoski, Philip A. Strawser
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A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.
A method of controlling a force- or impedance-controlled robot having a robotic manipulator and operating within an unstructured workspace, the method comprising:
A robotic system comprising:
A controller for a force- or impedance-controlled robot operating in an unstructured workspace and having a robotic manipulator, wherein the controller includes a host machine programmed to automatically impose a saturation limit on a static force applied by the robotic manipulator to its surrounding environment, such that the static force cannot at any time exceed the saturation limit.
Dependencies are inferred from the claim text.