发明申请
- 专利标题： PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES
- 专利标题（中）： 用于操纵机械运动的自由度自由度
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申请号： US13966406申请日： 2013-08-14
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公开(公告)号： US20140052298A1公开(公告)日： 2014-02-20
- 发明人: Arjang M. Hourtash , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Amy E. Kerdok , Michael Turner
- 申请人： Intuitive Surgical Operations, Inc.
- 申请人地址： US CA Sunnyvale
- 专利权人： Intuitive Surgical Operations, Inc.
- 当前专利权人： Intuitive Surgical Operations, Inc.
- 当前专利权人地址： US CA Sunnyvale
- 主分类号： B25J9/16
- IPC分类号： B25J9/16
摘要：
Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.
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