Systems and methods for unified null space motion control
AssigneeAuris Health, Inc.
InventorsNima SARLI, Mengjie LI, Yanan HUANG, Ying MAO
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Abstract
A robotic medical system can include a user console, a robotic arm, and an adjustable arm support coupled to the robotic arm. The robotic medical can be configured to control null space motion of the robotic arm and/or the adjustable arm support based on inputs from two or more tasks of a plurality of tasks for execution by the robotic medical system. For example, the plurality of tasks can include contact detection of the robotic arm, optimization of the adjustable arm support, collision and/or joint limit handling via kinematics, robotic arm null space and/or bar pose jogging, and/or motion toward a preferred joint position.
Claims20
A robotic system, comprising:
- a user console;
- a robotic arm;
- an adjustable bar coupled to the robotic arm;
- one or more processors;
- and
- a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to:
- control null space motion of at least one of the robotic arm or the adjustable bar based on inputs from two or more tasks of a plurality of tasks for execution by the robotic system, the plurality of tasks including:
- a first task comprising contact detection of the robotic arm,
- a second task comprising optimization of the adjustable bar,
- a third task comprising collision or joint limit handling via kinematics,
- a fourth task comprising robotic arm null space or bar pose jogging, and
- a fifth task comprising motion toward a preferred joint position.
A method, comprising:
- identifying a first plurality of tasks for a robotic system, wherein each task of the first plurality of tasks requests a respective null space motion of a robotic arm of the robotic system having a corresponding null space joint velocity, and wherein the first plurality of tasks includes two or more of:
- a first task comprising kinematic collision avoidance;
- a second task comprising joint limit avoidance;
- a third task comprising contact avoidance and admittance null space motion;
- and
- a fourth task comprising motion toward a preferred joint position;
- and
- executing null space motion of the robotic arm based on a first null space joint velocity of the robotic arm that is determined by reducing a cost function that includes a first cost corresponding to optimization of null space or bar pose jogging of an adjustable bar of the robotic system or the robotic arm and a plurality of second costs corresponding to each task of the first plurality of tasks.
A robotic system, comprising:
- a robotic arm;
- an adjustable bar coupled to the robotic arm;
- one or more processors, and
- a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to:
- identify a first plurality of tasks for the robotic system, wherein each task of the first plurality of tasks requests a respective null space motion of the robotic arm having a corresponding null space joint velocity, and wherein the first plurality of tasks includes two or more of:
- a first task comprising kinematic collision avoidance;
- a second task comprising joint limit avoidance;
- a third task comprising contact avoidance and admittance null space motion;
- and
- a fourth task comprising a preferred joint position;
- and
- execute null space motion of the robotic arm based on a first null space joint velocity of the robotic arm that is determined by reducing a cost function that includes a first cost corresponding to optimization of null space jogging of the adjustable bar or the robotic arm and a plurality of second costs corresponding to each task of the first plurality of tasks.
Dependencies are inferred from the claim text.