US 2014/0276951 A1 · Software Configurable Manipulator Degrees of Freedom

Abstract

Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.

Claims38

Dependent claims

A method for controlling a plurality of manipulator assemblies of a robotic system, the method comprising:

receiving a first plurality of sensor signals at a plurality of joint space interface elements, the first sensor signals indicating joint states of a first manipulator assembly, the first sensor signals being received from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly, the connector input elements being operable to couple to only one manipulator assembly at a time;
processing the received first sensor signals with a joint controller so as to control the first manipulator assembly;
receiving a second plurality of sensor signals indicating joint states of the second manipulator assembly, the second sensor signals being received from the connector input elements via a second mapping between the joint space interface elements and joints of the second manipulator assembly different than the first mapping;
and
processing the received second sensor signals with the joint controller so as to control the second manipulator assembly.

2 more elements

A method for controlling a plurality of manipulator assemblies of a robotic system, the method comprising:

receiving first joint space output signals at a plurality of work space interface elements, the first joint space output signals being received from a plurality of joint space interface elements, the first joint space output signals corresponding to at least one degree of freedom of a first manipulator assembly, the first joint space output signals being received via a first mapping between the work space interface elements and the joint space interface elements;
processing the received first joint space output signals with a work space controller so as to control the first manipulator assembly;
receiving second joint space output signals at the work space interface elements, the second joint space output signals being received from the joint space interface elements, the second joint space output signals corresponding to at least one degree of freedom of a second manipulator assembly different than the first manipulator assembly, the second joint space output signals being received via a second mapping between the work space interface elements and the joint space interface elements different than the first mapping;
and
processing the received second joint space output signals with the work space controller so as to control the second manipulator assembly.

2 more elements

Dependencies are inferred from the claim text.

Software Configurable Manipulator Degrees of Freedom

Life of this patent

Software Configurable Manipulator Degrees of Freedom

Life of this patent

Abstract

Claims38