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公开(公告)号：EP4115839A1
公开(公告)日：2023-01-11
申请号：EP22193555.4
申请日：2014-03-18
发明人： HOURTASH, Arjang
IPC分类号： A61B34/30 , B25J9/16 , B25J18/00 , G05B19/408 , G05B19/416
摘要： Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.
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公开(公告)号：EP2969406A1
公开(公告)日：2016-01-20
申请号：EP14723939.6
申请日：2014-03-18
发明人： SWARUP, Nitish , HOURTASH, Arjang , MOHR, Paul
CPC分类号： B25J9/1643 , A61B1/00193 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B50/13 , A61B2034/107 , A61B2034/2059 , A61B2034/301 , A61B2034/742 , A61B2090/065 , B25J18/007 , G05B2219/40339 , G05B2219/40359 , G05B2219/40474
摘要： Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.
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公开(公告)号：EP4203838A1
公开(公告)日：2023-07-05
申请号：EP21772909.4
申请日：2021-08-24
发明人： HOURTASH, Arjang , MITRA, Probal
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4.发明公开SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT 审中-公开系统和方法用于定位的机械臂通过离合器在一个房间中NULLPERPENDIKULAREM concomitance以零空间中的移动
公开(公告)号：EP2969403A1
公开(公告)日：2016-01-20
申请号：EP14718302.4
申请日：2014-03-18
发明人： HOURTASH, Arjang , SWARUP, Nitish
CPC分类号： A61B34/30 , A61B34/37 , B25J9/1607 , B25J9/1638 , B25J9/1666 , B25J18/007
摘要： Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.
摘要翻译： 设备，系统，以及用于定位臂方法由浮动的零垂直关节速度子空间内的第一组接头，并提供一个操纵器的近侧部分的所希望的状态或运动结束的操纵器臂的执行器或远程中心 由垂直驱动的第二组接头的零空间内正交于零空间与末端执行器定位的并发。 方法包括浮置的第一组接头的零垂直空间内，以允许一个或两个工作空间内的远程中心或端部执行器位置的手动定位，并在零内计算辅助运动驱动第二组接头雅丁到 -spacegemäß到期望的状态或所述操纵器臂的运动关节的浮动期间。 中提供了设备和利用搜索方法的系统的各种配置。
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公开(公告)号：EP3829477A1
公开(公告)日：2021-06-09
申请号：EP19752379.8
申请日：2019-07-30
发明人： HOURTASH, Arjang , LYNCH, Goran
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6.发明公开SYSTEMS AND METHODS FOR FACILITATING ACCESS TO EDGES OF CARTESIAN-COORDINATE SPACE USING THE NULL SPACE 审中-公开系统和访问直角边缘坐标方法空间使用面积为零
公开(公告)号：EP2969405A1
公开(公告)日：2016-01-20
申请号：EP14723210.2
申请日：2014-03-18
发明人： HOURTASH, Arjang
CPC分类号： A61B34/30 , A61B34/37 , A61B90/03 , B25J9/1607 , B25J9/1643 , B25J9/1666 , B25J18/007 , G05B2219/40371 , G05B2219/40474
摘要： Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space.
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7.发明公开SYSTEMS AND METHODS FOR USING THE NULL SPACE TO EMPHASIZE ANIPULATOR JOINT MOTION ANISOTROPICALLY 审中-公开系统和方法使用面积为零操作键盘的关节运动的各向异性EMPHASIS
公开(公告)号：EP2969404A1
公开(公告)日：2016-01-20
申请号：EP14718303.2
申请日：2014-03-18
发明人： HOURTASH, Arjang , SWARUP, Nitish
IPC分类号： B25J9/16 , B25J18/00 , G05B19/408 , G05B19/416
CPC分类号： A61B34/37 , A61B1/00193 , A61B18/14 , A61B34/25 , A61B34/30 , A61B2018/00595 , B25J9/1607 , B25J18/007
摘要： Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein.
摘要翻译： 设备，系统，和用于提供一个机械手的端部执行的命令的运动，同时提供的操纵器的一个或多个关节的期望的运动的方法。 方法包括计算使用关节空间内的加权矩阵的加权关节速度各向异性地强调一个零空间内关节运动，以提供第一组接头中的期望的运动。 方法可以包括计算关节速度使用伪逆溶液和使用该关节空间对应于所述第一组接头的所需的运动内的电位梯度函数调整所述计算出来的关节速度没有达到期望的端部执行器的运动。 方法可包括使用加权伪逆溶液等增强雅可比溶液。 因此可以使用从伪逆计算溶液关节速率来提供一个或多个辅助运动。 中提供了利用搜索方法系统的各种配置。
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8.发明公开
公开(公告)号：EP4154836A1
公开(公告)日：2023-03-29
申请号：EP22190871.8
申请日：2014-03-18
发明人： HOURTASH, Arjang , SWARUP, Nitish
摘要： Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.
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公开(公告)号：EP2969408A1
公开(公告)日：2016-01-20
申请号：EP14763886.0
申请日：2014-03-18
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B2034/2059
摘要： Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first, manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at, a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.
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10.发明公开SYSTEM AND METHODS FOR MANAGING MULTIPLE NULL-SPACE OBJECTIVES AND SLI BEHAVIORS 审中-公开系统和方法用于管理多个面积为零的目标与SLI做法
公开(公告)号：EP2969407A1
公开(公告)日：2016-01-20
申请号：EP14725289.4
申请日：2014-03-18
发明人： HOURTASH, Arjang
IPC分类号： B25J9/16 , B25J18/00 , G05B19/408 , G05B19/416
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , B25J9/1607 , B25J18/007
摘要： Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.
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