Dynamic torque saturation limits for robot actuator(s)
AssigneeX Development LLC
InventorRobert Wilson
Life of this patent
Estimating the term…
Abstract
Implementations are directed to, for each of one or more joints of a robot, generating dynamic joint torque saturation limits for the joint, such as an upper joint torque saturation value and a lower joint torque saturation value. Implementations are additionally or alternatively directed to utilizing the dynamic torque saturation limits for the joint in generating driving torques and/or to driving a motor (or other actuator) of the joint based on the driving torques. Various implementations can enable regulation of contact forces for a robot in situations where the robot lacks joint torque sensor(s) and/or force torque sensor(s) and/or in situations where such sensor(s) are present, but have failed or are malfunctioning.
Claims23
A method implemented by one or more components of a robot, the method comprising:
- generating, using one or more models for a robot joint of a robot, a model predicted torque value, for an actuator of the robot joint, in implementing a motion command for the robot joint;
- generating, based on adding a value to the model predicted torque value, an upper torque saturation value, and
- generating, based on subtracting the value or an alternate value from the model predicted torque value, a lower torque saturation value;
- generating, using a feedback controller and based on the motion command, a commanded torque value;
- providing, to a saturation block that generates a driving torque value for driving the actuator:
- the commanded torque value,
- the upper torque saturation value, and
- the lower torque saturation value.
A method comprising:
- driving a robot actuator of a robot during performance of a task by the robot, the method, driving the robot actuator comprising:
- receiving, at a driver for the robot actuator:
- a commanded torque value,
- an upper torque saturation value, and
- a lower torque saturation value;
- generating, by the driver, a driving torque value for driving the robot actuator, wherein generating the driving torque value is based on the commanded torque value but bounded by the upper torque saturation value and the lower torque saturation value;
- driving the robot actuator based on the driving torque value;
- receiving, at the driver and subsequent to generating the torque value:
- an additional commanded torque value,
- an additional upper torque saturation value that varies from the upper torque saturation value, and
- an additional lower torque saturation value that varies from the lower torque saturation value;
- generating, by the driver, an additional driving torque value for driving the robot actuator, wherein generating the additional driving torque value is based on the commanded torque value but bounded by the additional upper torque saturation value and the additional lower torque saturation value;
- and
- driving the robot actuator based on the additional driving torque value.
A method, comprising
- at each of a plurality of time steps during performance of a task by the robot:
- generating, using a model for a robot joint of a robot and based on a corresponding current state of the robot joint, a corresponding model predicted torque value for an actuator of the robot joint;
- generating, based on adding a value to the corresponding model predicted torque value, a corresponding upper torque saturation value,
- generating, based on subtracting the value or an alternate value from the corresponding model predicted torque value, a corresponding lower torque saturation value;
- and
- providing, to a saturation block of a driver of an actuator of the robot joint, the corresponding lower torque saturation value and the corresponding upper torque saturation value.
Dependencies are inferred from the claim text.