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US 2026/0225249 A1Published application
Control methods and interfaces for controlling machines
AssigneeMassachusetts Institute of Technology
InventorsHermano Igo Krebs, Moises Alencastre-Miranda, Andres Martinez Guerra
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Abstract
Embodiments related to methods and systems for using control arms operated in a controller space that is linearly mapped to a world space for controlling operation of a machine with an end effector are disclosed.
Claims33
A system comprising:
- a control arm including a plurality of linkages with one or more joints disposed between the plurality of linkages;
- a plurality of sensors configured to sense a configuration of the one or more joints of the control arm;
- and
- at least one processor configured to:
- obtain a commanded pose for an end effector of a machine in a world space, wherein the commanded pose is in a controller space, and wherein the commanded pose is obtained from the plurality of sensors, and wherein the controller space is linearly mapped to the world space of the machine;
- transform the commanded pose from the controller space to a commanded machine configuration in a machine space of the machine;
- and
- control movement of the end effector based at least in part on the commanded machine configuration.
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A method of controlling operation of a machine including an end effector, the method comprising:
- obtaining a commanded pose for the end effector in a world space, wherein the commanded pose is in a controller space, wherein the controller space is linearly mapped to the world space of the machine;
- and
- teleoperating the machine based at least in part on the commanded pose to control movement of the end effector.
A method of controlling operation of a machine including an end effector, the method comprising:
- obtaining a commanded pose for the end effector in a world space, wherein the commanded pose is in a controller space, wherein the controller space is linearly mapped to the world space of the machine;
- transforming the commanded pose to a commanded machine configuration in a machine space of the machine;
- and
- controlling movement of the end effector based on the commanded machine configuration.
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Dependencies are inferred from the claim text.