公开(公告)号：EP2864084A2

公开(公告)日：2015-04-29

申请号：EP13740398.6

申请日：2013-06-21

申请人： Rethink Robotics Inc. ,  Blumberg, Bruce ,  Brooks, Rodney ,  Buehler, Christopher J. ,  Deegan, Patrick A. ,  Dicicco, Matthew ,  Dye, Noelle ,  Ens, Gerry ,  Linder, Natan ,  Siracusa, Michael ,  Sussman, Michael ,  Williamson, Matthew M. ,  Huang, Albert

发明人： BLUMBERG, Bruce ,  BROOKS, Rodney ,  BUEHLER, Christopher, J. ,  DEEGAN, Patrick, A. ,  DICICCO, Matthew ,  DYE, Noelle ,  ENS, Gerry ,  LINDER, Natan ,  SIRACUSA, Michael ,  SUSSMAN, Michael ,  WILLIAMSON, Matthew, M. ,  HUANG, Albert

IPC分类号： B25J9/16 ,  G05B19/423

CPC分类号： B25J9/163 ,  B25J9/0087 ,  B25J9/1671 ,  B25J9/1676 ,  B25J9/1697 ,  B25J11/0005 ,  B25J13/084 ,  G05B19/42 ,  G05B2219/39451 ,  G05B2219/39466 ,  G05B2219/40116 ,  G06F17/00 ,  G06K9/2081 ,  G06K9/6255 ,  G06K9/66 ,  G06N5/025 ,  G06N7/005 ,  G06N99/005 ,  Y02P90/86 ,  Y10S901/01 ,  Y10S901/03 ,  Y10S901/09 ,  Y10S901/31 ,  Y10S901/46 ,  Y10S901/47

摘要： Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.

公开(公告)号：EP2895305A1

公开(公告)日：2015-07-22

申请号：EP13789058.8

申请日：2013-09-17

申请人： Rethink Robotics Inc. ,  Williamson, Matthew M. ,  Dicicco, Matthew ,  Romano, Joseph M.

发明人： WILLIAMSON, Matthew, Murray ,  DICICCO, Matthew ,  ROMANO, Joseph, M.

IPC分类号： B25J9/16 ,  G05B19/423

CPC分类号： B25J9/1633 ,  B25J9/1643 ,  G05B19/423 ,  G05B2219/36432 ,  G05B2219/40365

摘要： Redundant robotic manipulators may be constrained in their motions during operation in a gravity -compensated mode by applying, in addition to gravity -compensating torques, constraining torques to one or more of the joints. The constraining torques may urge the manipulator to a specified canonical posture, and may be modeled by virtual springs attached to the constrained joints.

摘要翻译： 冗余的机器人操纵器可以在重力补偿模式的操作过程中被限制在它们的运动中，除了重力补偿转矩之外，将约束扭矩应用于一个或多个关节。 约束扭矩可以将操纵器推动到指定的规范姿势，并且可以通过附接到约束关节的虚拟弹簧来建模。