Safety in robotic systems
AssigneeElementary Robotics, Inc.
InventorsDan Pipe-Mazo, Arye Barnehama, Arash Kalantari, Dat Do
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Abstract
Disclosed herein are embodiments related to safety in robotic systems. For example, an apparatus for collaborative robotics may include a first segment, a second segment, and a joint assembly. The joint assembly may include a processing device and a stepper motor, the stepper motor may control a relative position of the first and second segments, the processing device may perform closed-loop control of the stepper motor and monitor one or more performance metrics, and the processing device may cause braking of the stepper motor when a value of at least one of the performance metrics is outside an allowable range.
Claims20
An apparatus for collaborative robotics, comprising:
- a first segment;
- a second segment;
- and
- a joint assembly, wherein the joint assembly includes a processing device and a stepper motor, the stepper motor is to control a relative position of the first and second segments, the processing device is to perform closed-loop control of the stepper motor and monitor one or more performance metrics, and the processing device is to cause drive of the stepper motor to cease when a value of at least one of the performance metrics is outside an allowable range.
An apparatus for robotic control, comprising:
- a processing device to:
- identify a trajectory through which to run a robotic apparatus, wherein the robotic apparatus includes one or more joints,
- cause the robotic apparatus to run through the trajectory,
- receive data indicative of performance metrics of the one or more joints while the robotic apparatus is running through the trajectory,
- generate a computational model mapping a time index of the trajectory to the received data, and
- identify one or more fault conditions for a difference between the computational model and performance of the robotic apparatus.
Dependencies are inferred from the claim text.