US 8,170,718 B2 · Multiple priority operational space impedance control

Abstract

A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.

Claims18

Dependent claims

A method for providing multiple priority operational space impedance or stiffness control for robotic manipulators, said method comprising:

defining, on a processor a plurality of different impedance or stiffness objectives defined operational space or joint space;
assigning a priority to the different impedance or stiffness objectives;
controlling a manipulator impedance such that a primary priority impedance or stiffness objective is realized;
controlling the manipulator impedance such that a secondary priority impedance or stiffness objective is realized to the extent possible while still realizing the primary priority impedance or stiffness objective;
and
controlling the manipulator impedance such that lower priority impedance or stiffness objectives are realized to the extent possible while realizing all higher priority impedance or stiffness objectives.

3 more elements

Dependencies are inferred from the claim text.

Multiple priority operational space impedance control

Life of this patent

Multiple priority operational space impedance control

Life of this patent

Abstract

Claims18