Method of inferring intentions of an operator to move a robotic system
AssigneesGM Global Technology Operations LLC, Universite Laval
InventorsAlexandre Lecours, Boris Mayer-St-Onge, Clement Gosselin, Dalong Gao
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Abstract
A method of inferring intentions of an operator to move a robotic system includes monitoring the intention of the operator, with a controller. The intention of the operator is inferred to be one of a desired acceleration and a desired deceleration. The intention of the operator is also as a desired velocity. Admittance parameters are modified as a function of at least one of the inferred acceleration, deceleration, and velocity.
Claims19
A method of inferring intentions of an operator to move a robotic system, the method comprising:
- monitoring the intentions of the operator, with a controller, with respect to the robotic system, wherein the controller has an algorithm configured for inferring the intentions of the operator and processing the inferred intentions;
- inferring the intentions of the operator to be at least one of a desired acceleration, a desired deceleration and a desired velocity;
- modifying values of a virtual mass and a virtual damping of the robotic system, within the controller, as a function of at least one of the inferred acceleration, deceleration, and velocity such that the values of the virtual mass and the virtual damping decrease when the intention of acceleration is inferred and the values of the virtual mass and the virtual damping are increased when the intention of deceleration is inferred;
- and
- determining a desired speed of the robotic system, as a function of the modified values of the virtual mass and virtual damping.
A robotic system comprising:
- a trolley configured for movement along a first axis;
- a sensing handle operatively connected to the trolley and configured to be grasped by an operator such that the sensing handle measures a force between the operator and the robotic system;
- a controller operatively connected to the sensing handle and including an algorithm, wherein the algorithm is configured for:
- monitoring the intentions of the operator, with respect to the robotic system;
- inferring the intentions of the operator to be at least one of a desired acceleration, a desired deceleration, and a desired velocity;
- modifying values of a virtual mass and a virtual damping of the robotic system, within the controller, as a function of at least one of the inferred acceleration, deceleration, and velocity such that the values of the virtual mass and the virtual damping decrease when the intention of acceleration is inferred and the values of the virtual mass and the virtual damping are increased when the intention of deceleration is inferred;
- and
- determining a desired speed of the robotic system, as a function of the modified values of the virtual mass and the virtual damping.
A method of moving a robotic system along a first axis, the method comprising:
- providing a controller having an algorithm configured for inferring intentions of an operator and processing the inferred intentions;
- monitoring the intentions of the operator, with the controller, with respect to the robotic system;
- deducing the intentions of the operator to be one of a desired acceleration and a desired deceleration;
- adjusting values of a virtual mass and a virtual damping of the robotic system, within the controller, as a function of one of a magnitude of the desired acceleration and the desired deceleration;
- wherein the values of the virtual mass and the virtual damping of the robotic system are decreased when the intention of acceleration is deduced;
- wherein the values of the virtual mass and the virtual damping of the robotic system are increased when the intention of deceleration is deduced;
- determining a desired speed of a trolley along the first axis as a function of the virtual mass and virtual damping of the robotic system;
- and
- transmitting power to a motor to move the trolley along the first axis, at the desired speed.
Dependencies are inferred from the claim text.