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US 2026/0233384 A1Published application
Systems and methods for controlling robotic manipulators
AssigneeBioness Medical Inc.
InventorsRohit John VARGHESE, Daniel NGUYEN, Youngmok YUN
Life of this patent
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Abstract
An embodiment includes systems and methods of creating an equivalent open chain series link representation of closed-loop RCM linkages, for the purpose of simplified inverse dynamics calculations.
Claims28
A system comprising:
- a closed chain robotic linkage;
- at least one memory;
- at least one processor, coupled to the at least one memory and the closed chain robotic linkage, to perform operations comprising:
- representing the closed chain robotic linkage as a serial chain robotic linkage;
- using a serial chain solver on the serial chain robotic linkage to determine real-time inverse dynamics related to the serial chain robotic linkage;
- in response to using the serial chain solver on the serial chain robotic linkage to determine real-time inverse dynamics related to the serial chain robotic linkage, determining real-time inverse dynamics related to the closed chain robotic linkage;
- in response to determining the real-time inverse dynamics related to the closed chain robotic linkage, exercising real time control of the closed chain robotic linkage to physically move the closed chain robotic linkage from a first physical position to a second physical position.
4 more elements
-29. (canceled)
Dependencies are inferred from the claim text.