Robots and methods of controlling the same
AssigneeSamsung Electronics Co., Ltd.
InventorsWoong KWON, Bok Man LIM, Gurel OGAN
Life of this patent
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Abstract
A robot may include: a multi-tool module having redundancy, the multi-tool module including a guide tube and a plurality of tools configured to operate while interacting with the guide tube and extended from the guide tube; and/or a controller configured to generate a control signal regarding motion of the multi-tool module in a joint space based on motion instruction information regarding distal ends of the plurality of tools in a task space. The redundancy may reflect that a number of degrees of freedom of the multi-tool module in the joint space is greater than a number of degrees of freedom of the task space. The control signal may be generated using the redundancy.
Claims18
A robot, comprising:
- a multi-tool module having redundancy, the multi-tool module comprising:
- a guide tube;
- and
- a plurality of tools configured to operate while interacting with the guide tube and extended from the guide tube;
- and
- a controller configured to generate a control signal regarding motion of the multi-tool module in a joint space based on motion instruction information regarding distal ends of the plurality of tools in a task space;
- wherein the redundancy reflects that a number of degrees of freedom of the multi-tool module in the joint space is greater than a number of degrees of freedom of the task space, and
- wherein the control signal is generated using the redundancy.
A method of controlling a robot that comprises a multi-tool module, having redundancy, comprising a guide tube and a plurality of tools configured to operate while interacting with the guide tube and extended from the guide tube, the method comprising:
- generating motion instruction information regarding distal ends of the plurality of tools in a task space;
- and
- generating a control signal regarding motion of the multi-tool module in a joint space based on the generated motion instruction information in the task space;
- wherein the redundancy reflects that a number of degrees of freedom of the multi-tool module in the joint space is greater than a number of degrees of freedom of the task space, and
- wherein the control signal is generated using the redundancy.
Dependencies are inferred from the claim text.