Method and system for controlling a telerobotic robot

A method for controlling a telerobotic robot using an input device which includes a movable actuator, the method comprising:

• commanding with the input device a target pose of a robot-fixed reference of the telerobotic robot based on a detected position of the actuator;
• commanding a target force of the actuator;
• operating the robot in a non-contact operating mode while no contact with an obstacle is detected, or after contact with an obstacle is no longer detected;
• and
• operating the robot in a contact operating mode in response to detecting a contact of the robot-fixed reference with an obstacle while moving in a contact direction;
• wherein, in the contact operating mode, the target force comprises a contact force component of a virtual spring that simulates a contact of the robot-fixed reference with an obstacle;
• and
• in the non-contact operating mode, the contact force component is omitted.

A system for controlling a telerobotic robot using an input device which includes a movable actuator, the system comprising an input device controller that comprises:

• means for commanding a target pose of a robot-fixed reference of the telerobotic robot based on a detected position of the actuator;
• means for commanding a target force of the actuator;
• and
• means for operating the robot:
• in a non-contact operating mode while no contact with an obstacle is detected, or after contact with an obstacle is no longer detected, and
• in a contact operating mode in response to detecting a contact of the robot-fixed reference with an obstacle while moving in a contact direction;
• wherein, in the contact operating mode, the target force comprises a contact force component of a virtual spring that simulates a contact of the robot-fixed reference with an obstacle;
• and
• in the non-contact operating mode, the contact force component is omitted.

A computer program product for controlling a telerobotic robot using an input device that includes a movable actuator, the computer program product comprising program code stored on a non-transitory, computer-readable medium, the program code, when executed on a computer, causing the computer to:

• command a target pose of a robot-fixed reference of the telerobotic robot based on a detected position of the actuator;
• command a target force of the actuator;
• operate the robot in a non-contact operating mode while no contact with an obstacle is detected, or after contact with an obstacle is no longer detected;
• and
• operate the robot in a contact operating mode in response to detecting a contact of the robot-fixed reference with an obstacle while moving in a contact direction;
• wherein, in the contact operating mode, the target force comprises a contact force component of a virtual spring that simulates a contact of the robot-fixed reference with an obstacle;
• and
• in the non-contact operating mode, the contact force component is omitted.