Admittance mode control system and method for robotic arm
AssigneeKinova Inc.
InventorsEric LAVIGNE, Sebastien MESSIER, Sebastien BOISVERT, Jean-Luc BOUCHARD
Life of this patent
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Abstract
An admittance mode control system for a robotic arm comprises an admittance switch adapted to be mounted to the robotic arm. A rotary contact connects a control circuitry to the admittance switch. The control circuitry is adapted to be mounted to the robotic arm, rotational degree(s) of freedom being present between the control circuitry and the admittance switch, the control circuitry interpreting signals to filter circuit misconduct from admittance switch activation. The control circuitry is adapted to communicate a request for admittance to a robot driver for the robot driver to convert an operation of the robotic arm into admittance mode.
Claims23
An admittance mode control system for a robotic arm comprising:
- an admittance switch adapted to be mounted to the robotic arm;
- a rotary contact;
- control circuitry connected to the admittance switch via the rotary contact, and adapted to be mounted to the robotic arm, at least one rotational degree of freedom being present between the control circuitry and the admittance switch, the control circuitry interpreting signals to filter circuit misconduct from admittance switch activation;
- and
- whereby the control circuitry is adapted to communicate a request for admittance to a robot driver for the robot driver to convert an operation of the robotic arm into admittance mode.
A method for converting an operation of a robotic arm into admittance mode, the robotic arm of the type having an admittance switch, a rotary contact, and control circuitry connected to the admittance switch via the rotary contact, the method comprising:
- receiving signals from the rotary contact;
- interpreting the signals to filter circuit misconduct from admittance switch activation;
- identifying one of the signals as admittance switch activation;
- and
- communicating a request for admittance to a robot driver to convert an operation of the robotic arm into admittance mode.
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Dependencies are inferred from the claim text.