Method of inferring intentions of an operator to move a robotic system
AssigneesUniversite Laval, GM Global Technology Operations LLC
InventorsAlexandre Lecours, Boris Mayer-St-Onge, Clement Gosselin, Dalong Gao
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Abstract
A method of inferring intentions of an operator to move a robotic system includes monitoring the intention of the operator, with a controller. The intention of the operator is inferred to be one of a desired acceleration and a desired deceleration. The intention of the operator is also as a desired velocity. Admittance parameters are modified as a function of at least one of the inferred acceleration, deceleration, and velocity.
Claims19
A method of inferring intentions of an operator to move a robotic system, the method comprising:
- monitoring the intention of the operator, with a controller;
- inferring the intention of the operator to be one of a desired acceleration and a desired deceleration;
- inferring the intention of the operator to be a desired velocity;
- and
- modifying admittance parameters as a function of at least one of the inferred acceleration, deceleration, and velocity.
A robotic system comprising:
- a trolley configured for movement along a first axis;
- a sensing handle operatively connected to the trolley and configured to be grasped by an operator such that the sensing handle measures a force between the operator and the robotic system;
- a controller operatively connected to the sensing handle;
- wherein the controller is configured to determine a motion of the trolley desired by the operator such that one of a desired acceleration and a desired deceleration are deduced as a function of the measured force to move the trolley along the first axis.
A robotic system, as set forth in claim 10, wherein the sensing handle includes at least one force sensor configured to measure the force between the operator and the robotic system.
A method of moving a robotic system along a first axis, the method comprising:
- monitoring the intention of the operator, with a controller;
- deducing the intention of the operator to be one of a desired acceleration and a desired deceleration;
- adjusting admittance parameters as a function of one of a magnitude of the desired acceleration and the desired deceleration;
- wherein the admittance parameters are decreased when the intention of acceleration is deduced;
- wherein the admittance parameters are increased when the intention of deceleration is deduced;
- and
- transmitting power to a motor to move a trolley along the first axis as a function of the deduced intention of the operator.
Dependencies are inferred from the claim text.