Dynamic manipulator strength augmentation
AssigneeEagle Technology, LLC
InventorPaul M. Bosscher
Life of this patent
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Abstract
Systems (100) and methods (900) for controlling movement of an articulating arm having a plurality of joints. The methods comprise: receiving, by the controller, a command to perform a task by the articulating arm; ranking movements of the joints based on how much each said joint needs to move at a first time in order to follow the command; selecting a first subset of joints with top-ranked movements from the plurality of joints, where the subset of joints comprises less than a total number of joints contained in the plurality of joints; and causing only the joints of the first subset to move during a first timeslot of a plurality of timeslots.
Claims22
A method for controlling movement of an articulating arm having a plurality of joints, comprising:
- receiving, by a controller, a command to perform a task by the articulating arm;
- ranking, by the controller, movements of the joints based on how much each said joint needs to move at a first time in order to follow the command;
- selecting, by the controller, a first subset of joints with top-ranked movements from the plurality of joints, where the first subset of joints comprises less than a total number of joints contained in the plurality of joints;
- and
- causing, by the controller, only the joints of the first subset to move during a first timeslot of a plurality of timeslots.
A system, comprising:
- an articulating arm having a plurality of joints;
- a processor communicatively coupled to the articulating arm;
- and
- a non-transitory computer-readable storage medium comprising programming instructions that are configured to cause the processor to implement a method for controlling movement of the articulating arm, wherein the programming instructions comprise instructions to:
- receive a command to perform a task by the articulating arm;
- rank movements of the joints based on how much each said joint needs to move at a first time in order to follow the command;
- select a first subset of joints with top-ranked movements from the plurality of joints, where the first subset of joints comprises less than a total number of joints contained in the plurality of joints;
- and
- cause only the joints of the first subset to move during a first timeslot of a plurality of timeslots.
Dependencies are inferred from the claim text.