US 2025/0033209 A1 · ROBOTIC MANIPULATOR HAVING A TASK NULL SPACE

Abstract

A system and method of controlling a robotic manipulator, wherein the method includes: providing information regarding a task to be executed; determining a task null space from the provided information via a computing unit, the task null space being characterized by a set of variations of a kinematic variable of the end effector, with all of which variations the task is capable of being executed; establishing observation points by discretizing the task null space into a finite number of the variations via the computing unit; executing an optimization method to optimize a predefined target function, including execution of a model of the robotic manipulator for each of the observation points; and controlling the robotic manipulator to assume an optimal variation of the end effector determined according to a result of the optimization method.

Claims21

Dependent claims

A method of controlling a robotic manipulator having an end effector, the method comprising the steps of:

providing information about a task to be performed by the robotic manipulator;
determining via a computing unit a task null space from the information provided, wherein the task null space is characterized by a set of variations of at least one kinematic variable of the end effector with all of which the task is capable of being carried out;
establishing via the computing unit observation points by discretizing the task null space into a finite plurality of variations;
executing an optimization method to maximize or minimize a predetermined target function, wherein the optimization method comprises executing a kinematic or dynamic model of the robotic manipulator for each of the observation points;
and
controlling the robotic manipulator to assume an optimal variation from the task null space determined according to a result of the optimization method.

3 more elements

A system to control a robotic manipulator having an end effector, the system comprising:

an interface to provide information regarding a task to be executed by the robotic manipulator;
and
a computing unit configured to determine a task null space from the provided information, wherein the task null space is characterized by a set of variations of at least one kinematic variable of the end effector, with all of which the task is capable of being executed, and which is executed to establish observation points by discretizing the task null space into a finite number of variations and to execute an optimization method to maximize or minimize a predetermined target function, wherein the optimization method comprises execution of a kinematic or dynamic model of the robotic manipulator for each of the observation points and control of the robotic manipulator to assume an optimal variation of the end effector determined according to a result of the optimization method.

Dependencies are inferred from the claim text.

Robotic manipulator having a task null space

Life of this patent

Robotic manipulator having a task null space

Life of this patent

Abstract

Claims21