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18 条记录 (耗时 0.012 秒)

    MANIPULATOR JOINT-LIMIT HANDLING ALGORITHM
    1.
    发明公开
    MANIPULATOR JOINT-LIMIT HANDLING ALGORITHM 有权
    联合控制算法操纵

    公开(公告)号：EP2688718A1

    公开(公告)日：2014-01-29

    申请号：EP12714878.1

    申请日：2012-03-02

    申请人： Harris Corporation

    发明人： BOSSCHER, Paul M. ,  SUMMER, Matthew D.

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1607

    摘要： A desired movement command (203) for a robotic device (100) having n joints (112) operating in an m degrees of freedom task space is analyzed to determine if it would cause any of the joint angular limits to be violated. In the case where a non-zero number L (241) of the joints (112) have angular limits that are violated, a revised movement command (254) is then constructed according to the following equation: {dot over (q)}mod=Jmod(JmodTW2Jmod)−1JmodTW2{dot over (x)}cmd {dot over (q)}new=re({dot over (q)}mod), wherein {dot over (q)}mod (253) is an (n−L)×1 joint velocity command for joints that are not currently being limited, {dot over (q)}new (254) is an n×1 new joint velocity command, Jmod (251) is an m×(n−L) matrix, JmodT is the transpose of Jmod (251), W (252) is an m×m matrix comprising weighting factors, and {dot over (x)}cmd (203) is the desired movement command (203) for the end-effector (116) velocity. Jmod (251) is constructed by determining an m×n Jacobian matrix J (211) for the robotic device (100) and then utilizing the Jacobian matrix J (211) to generate the matrix Jmod (251), in which Jmod (251) comprises all columns in J (211) except for those columns corresponding to the L actively limited joints.

    ADAPTIVE ROBOTIC GRIPPER
    4.
    发明授权
    ADAPTIVE ROBOTIC GRIPPER 有权

    公开(公告)号：EP2919949B1

    公开(公告)日：2018-06-06

    申请号：EP13799155.0

    申请日：2013-11-13

    申请人： HARRIS CORPORATION

    发明人： BOSSCHER, Paul M. ,  SUMMER, Matthew D.

    IPC分类号： B25J15/10

    CPC分类号： B25J15/106 ,  B25J15/10

    摘要： A method for grasping an object includes moving a first and second gripping pad (116) respectively to first and second locations in which a first face (117) of the first gripping pad is opposed from a second face (117) of the second gripping pad and spaced apart a distance. Two or more of pins (118) included in each gripping pad are extended from at least the first face in a direction toward the second face. Thereafter, an extension distance for each of the pins is independently determined responsive to a resistance encountered by each of the pins as a result of the extending. As a result of the independently determining step, an object-defined gripping contour is provided as formed by distal ends of the pins.

    ROBOTIC GRASPING DEVICE WITH MULTI-FORCE SENSING AT BASE OF FINGERS
    7.
    发明公开
    ROBOTIC GRASPING DEVICE WITH MULTI-FORCE SENSING AT BASE OF FINGERS 有权
    具有多个电源测量机器人设备CROSS在指根

    公开(公告)号：EP2686144A1

    公开(公告)日：2014-01-22

    申请号：EP12712443.6

    申请日：2012-03-02

    申请人： Harris Corporation

    发明人： SUMMER, Matthew D. ,  BOSSCHER, Paul M. ,  WILKINSON, Loran J.

    IPC分类号： B25J13/08

    CPC分类号： B25J13/085 ,  B25J5/005 ,  B25J13/025 ,  B25J15/0206 ,  G01L5/226

    摘要： A robotic grasping device (10) has a first finger (20), a second finger (30) and an actuator (40). The first finger has a first fingertip (22), a first base (24) and a first actuator engagement end (26). A first gripping surface (21) of the first finger lies between the first fingertip and the first base. Similarly, the second finger has a second fingertip (32), a second base (34), a second actuator engagement end (36). A second gripping surface (31) of the second finger is between the second fingertip and the second base. The actuator (40) mechanically engages with the first actuator engagement end and the second actuator engagement end to open and close the fingers. A first force sensor (28) is disposed on the base of the first finger to measure a first operative force on the first finger, and a second force sensor (38) is disposed on the base of the second finger to measure a second operative force on the second finger.

    IMPROVISED EXPLOSIVE DEVICE DEFEAT SYSTEM
    10.
    发明授权
    IMPROVISED EXPLOSIVE DEVICE DEFEAT SYSTEM 有权
    SYSTEM FOR爆炸装置的保护即兴

    公开(公告)号：EP2764323B1

    公开(公告)日：2016-06-22

    申请号：EP12781516.5

    申请日：2012-10-01

    申请人： Harris Corporation

    发明人： SUMMER, Matthew D. ,  BOSSCHER, Paul M. ,  RUST, John B.

    IPC分类号： F41H11/16

    CPC分类号： F41H11/16 ,  B25J3/00 ,  B25J9/1633 ,  B25J9/1689 ,  G05B2219/40404 ,  G05D1/0016 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/15

    摘要： A robot system (50) includes a control system (101) having a control interface grip (102). The robot system includes a macro robotic arm (54) and a micro robotic arm (60). The robot system is arranged such that the macro robotic arm will respond, in a first control system state, to movement of the control interface grip. In particular, the macro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip. The micro robotic arm will respond, in a second control system state, to movement of the control interface grip. In particular, the micro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip.