Method of controlling devices with sensation of applied force
AssigneeRobomotive Laboratories LLC
InventorBrett J. Pipitone
Life of this patent
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Abstract
The inventive technology eliminates the need for force sensors on a robotic manipulator while also improving feel by incorporating force sensors on the corresponding robotic input device. Position of the manipulator is used to determine positioning of the input device; therefore, rather than manipulator position lagging the input device position (as in conventional robotic systems), the opposite is true, so that input device position lags manipulator position. Through a combination of input device force control and manipulator position feedback, a sense of feel is achieved through use of an “effort sensor” mounted at a “control point” on the input device and use of a “position feedback force control” scheme.
Claims20
A robotic control system comprising:
- (a) a robotic manipulator having at least one first position sensor, and at least one first actuator that controls a position of at least one first movable physical member;
- (b) a robotic input device having at least one second position sensor, at least one second actuator that controls a position of at least one second movable physical member proximal to a control point, and an effort sensor located proximal to said control point;
- and
- (c) a system controller having a processing circuit, a memory circuit, and an interface circuit for communicating signals with (i) said robotic manipulator, and (ii) said robotic input device;
- wherein:
- said processing circuit is configured to execute:
- (i) a position feedback scheme for controlling said robotic input device based upon inputs from both the robotic input device and the robotic manipulator, and (ii) an effort controller scheme for controlling said robotic manipulator based upon inputs from the robotic input device.
A robotic control system comprising:
- (a) a robotic manipulator having at least one degree of freedom of motion, at least one first position sensor, and an actuator for applying a physical effort about said at least one degree of freedom;
- (b) a robotic input device having at least one degree of freedom with a mechanism to control the position of each degree of freedom, at least one effort sensor for at least one degree of freedom, and at least one second position sensor for at least one degree of freedom;
- and
- (c) a system controller having a processing circuit, a memory circuit, and an interface circuit for communicating signals with (i) said robotic manipulator, and (ii) said robotic input device;
- wherein:
- said system controller reads said at least one first position sensor of said at least one degree of freedom of the robotic manipulator and reads said at least one second position sensor of said at least one degree of freedom of the robotic input device, and commands the robotic input device to a desired position as indicated by the robotic manipulator.
A robotic control system comprising:
- (a) a virtual robotic manipulator having at least one virtual position sensor, and at least one virtual actuator that controls a virtual position of at least one movable virtual member, said virtual actuator including a user input device for use by a human user;
- (b) a robotic input device having at least one physical position sensor, at least one actuator that controls a position of at least one movable physical member proximal to a control point, and an effort sensor located proximal to said control point;
- and
- (c) a system controller having a processing circuit, a memory circuit, a display monitor, and an interface circuit for communicating signals with (i) the user input device of said virtual robotic manipulator, and (ii) said robotic input device;
- wherein:
- said processing circuit is configured to execute:
- (i) a position feedback scheme for controlling said robotic input device based upon inputs from both the robotic input device and the virtual robotic manipulator, and (ii) an effort controller scheme for controlling said virtual robotic manipulator based upon inputs from the robotic input device.
Dependencies are inferred from the claim text.