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1.发明授权Method and apparatus for calibrating multi-axis load cells in a dexterous robot 有权用于校准灵巧机器人中的多轴称重传感器的方法和装置公开(公告)号：US08265792B2
公开(公告)日：2012-09-11
申请号：US12760954
申请日：2010-04-15
IPC分类号： G05B19/04
CPC分类号： G01L5/226 , B25J9/1692 , B25J15/0009 , G01L25/00 , G05B2219/39024 , G05B2219/40618
摘要： A robotic system includes a dexterous robot having robotic joints, angle sensors adapted for measuring joint angles at a corresponding one of the joints, load cells for measuring a set of strain values imparted to a corresponding one of the load cells during a predetermined pose of the robot, and a host machine. The host machine is electrically connected to the load cells and angle sensors, and receives the joint angle values and strain values during the predetermined pose. The robot presses together mating pairs of load cells to form the poses. The host machine executes an algorithm to process the joint angles and strain values, and from the set of all calibration matrices that minimize error in force balance equations, selects the set of calibration matrices that is closest in a value to a pre-specified value. A method for calibrating the load cells via the algorithm is also provided.
摘要翻译： 机器人系统包括具有机器人接头的灵巧机器人，角度传感器适用于在相应的一个关节处测量关节角度，用于测量在预定姿势期间赋予相应的一个称重传感器的一组应变值的称重传感器 机器人和主机。 主机电连接到称重传感器和角度传感器，并且在预定姿势期间接收关节角度值和应变值。 机器人将一对称重传感器压在一起形成姿势。 主机执行处理关节角度和应变值的算法，并且从力平衡方程中误差最小的所有校准矩阵的集合中，选择一个最接近于一个值的校准矩阵集合到一个预定值。 还提供了一种通过算法校准称重传感器的方法。
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2.发明授权Robust operation of tendon-driven robot fingers using force and position-based control laws 有权使用强力和基于位置的控制规律对肌腱驱动的机器人手指进行稳健的操作公开(公告)号：US08489239B2
公开(公告)日：2013-07-16
申请号：US12916803
申请日：2010-11-01
申请人： Muhammad E Abdallah , Robert J. Platt, Jr. , Matthew J Reiland , Brian Hargrave , Myron A Diftler , Philip A Strawser , Chris A. Ihrke
发明人： Muhammad E Abdallah , Robert J. Platt, Jr. , Matthew J Reiland , Brian Hargrave , Myron A Diftler , Philip A Strawser , Chris A. Ihrke
CPC分类号： B25J15/0009 , B25J9/1045
摘要： A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.
摘要翻译： 机器人系统包括腱驱动的手指和控制系统。 当张力传感器可用时，系统通过基于力的控制律控制手指，并且当传感器不可用时，通过基于位置的控制规律来控制手指。 多个腱可以各自具有相应的传感器。 当只有一些传感器可用时，系统选择性地将符合值注入基于位置的控制律。 控制系统包括主机和具有控制过程的非暂时计算机可读介质，该控制过程由主机通过基于力或基于位置的控制定律来执行以控制手指。 用于控制手指的方法包括确定张力传感器的可用性，以及使用控制系统通过力或基于位置的控制律选择性地控制手指。 位置控制法允许控制系统抵抗干扰，同时名义上保持内部肌腱张力的初始状态。
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3.发明授权Method and system for controlling a dexterous robot execution sequence using state classification 有权使用状态分类控制灵巧机器人执行顺序的方法和系统公开(公告)号：US08706299B2
公开(公告)日：2014-04-22
申请号：US13196252
申请日：2011-08-02
申请人： Adam M. Sanders , Robert J. Platt, Jr. , Nathaniel Quillin , Frank Noble Permenter , Joseph Pfeiffer
发明人： Adam M. Sanders , Robert J. Platt, Jr. , Nathaniel Quillin , Frank Noble Permenter , Joseph Pfeiffer
CPC分类号： B25J9/1656 , G05B2219/40387
摘要： A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.
摘要翻译： 机器人系统包括灵巧机器人和控制器。 机器人包括多个机器人接头，用于移动接头的致动器，以及用于测量接头的特性的传感器，以及用于传送特性作为传感器信号。 控制器接收传感器信号，并且被配置为执行来自存储器的指令，经由状态分类模块将传感器信号分类为不同的等级，使用该类监视机器人的系统状态，以及控制机器人执行替代工作 基于系统状态的任务。 一种用于在上述系统中控制机器人的方法包括经由控制器接收信号，使用状态分类模块对信号进行分类，使用该类监视机器人的当前系统状态，以及在执行替代工作任务时控制机器人 基于当前的系统状态。
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4.发明授权公开(公告)号：US08676382B2
公开(公告)日：2014-03-18
申请号：US12787479
申请日：2010-05-26
CPC分类号： B25J9/1612
摘要： A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position.
摘要翻译： 机器人系统包括响应于速度控制信号的机器人机构和由凸多边形边界限定的允许工作空间。 主机确定相对于边界的机构上的参考点的位置，并且包括用于通过根据位置自动地形成速度控制信号来强制边界的算法，从而提供机构的平滑和不受干扰的操作 沿着边界的边缘和角落。 该算法适用于具有较高速度和/或外力的应用。 主机包括用于通过使作为参考点位置的函数的速度控制信号整形来强制边界的算法，以及用于执行该算法的硬件模块。 还提供了一种用于强制凸多边形边界的方法，其根据参考点位置通过主机对速度控制信号进行成形。
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