公开(公告)号：US09381643B2

公开(公告)日：2016-07-05

申请号：US14323047

申请日：2014-07-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Heiko Hoffmann ,  David W. Payton ,  Derek Mitchell

IPC: B25J9/16 ,  G05B19/19

CPC classification number: B25J9/1628 ,  A61B34/30 ,  B25J9/1664 ,  G05B19/19

Abstract: A robotic system includes an end-effector and a control system. The control system includes a processor, a dynamical system module (DSM), and a velocity control module (VCM). Via execution of a method, the DSM processes inputs via a flow vector field and outputs a control velocity command. The inputs may include an actual position, desired goal position, and demonstrated reference path of the end-effector. The VCM receives an actual velocity of the end-effector and the control velocity command as inputs, and transmits a motor torque command to the end-effector as an output command. The control system employs a predetermined set of differential equations to generate a motion trajectory of the end-effector in real time that approximates the demonstrated reference path. The control system is also programmed to modify movement of the end-effector in real time via the VCM in response to perturbations of movement of the end-effector.

Abstract translation: 机器人系统包括末端执行器和控制系统。 控制系统包括处理器，动力系统模块（DSM）和速度控制模块（VCM）。 通过执行方法，DSM通过流矢量场处理输入并输出控制速度命令。 输入可以包括实际位置，期望的目标位置，以及演示的末端执行器的参考路径。 VCM接收末端执行器和控制速度指令的实际速度作为输入，并将电机转矩指令作为输出指令发送到末端执行器。 控制系统采用预定的微分方程组来实时地生成末端执行器的运动轨迹，其近似所演示的参考路径。 控制系统也被编程为响应于末端执行器的运动的扰动，通过VCM实时地修改末端执行器的运动。

公开(公告)号：US20160107313A1

公开(公告)日：2016-04-21

申请号：US14517245

申请日：2014-10-17

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Heiko Hoffmann ,  Derek Mitchell

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/1676 ,  B25J9/1697 ,  G05B2219/39082 ,  G05B2219/39091 ,  G05B2219/40475 ,  G05B2219/40476 ,  G05B2219/40519

Abstract: A robotic system includes an end-effector, an input device, and a controller. The input device is operable for collecting data defining a position and a velocity of a dynamic obstacle in an environment of the end-effector. The dynamic obstacle has an arbitrary shape. The controller is in communication with the end-effector and is programmed to execute a method and thereby receive a set of inputs via the input device, including the position and velocity of the dynamic obstacle. The controller computes a contour function defining the closest allowed distance and direction between the end-effector and the dynamic obstacle using the Gilbert-Johnson-Keerthi algorithm, and controls the end-effector via an output command to thereby avoid contact between the end-effector and the dynamic obstacle.

Abstract translation: 机器人系统包括末端执行器，输入装置和控制器。 输入装置可操作用于收集限定末端执行器环境中的动态障碍物的位置和速度的数据。 动态障碍具有任意形状。 控制器与末端执行器通信，并被编程为执行一种方法，从而经由输入装置接收一组输入，包括动态障碍物的位置和速度。 控制器使用Gilbert-Johnson-Keerthi算法计算定义最终执行器和动态障碍物之间最接近的允许距离和方向的轮廓函数，并通过输出命令控制末端执行器，从而避免端部执行器 和动态障碍。

公开(公告)号：US20160000511A1

公开(公告)日：2016-01-07

申请号：US14323047

申请日：2014-07-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Heiko Hoffmann ,  David W. Payton ,  Derek Mitchell

IPC: A61B19/00

CPC classification number: B25J9/1628 ,  A61B34/30 ,  B25J9/1664 ,  G05B19/19

Abstract: A robotic system includes an end-effector and a control system. The control system includes a processor, a dynamical system module (DSM), and a velocity control module (VCM). Via execution of a method, the DSM processes inputs via a flow vector field and outputs a control velocity command. The inputs may include an actual position, desired goal position, and demonstrated reference path of the end-effector. The VCM receives an actual velocity of the end-effector and the control velocity command as inputs, and transmits a motor torque command to the end-effector as an output command. The control system employs a predetermined set of differential equations to generate a motion trajectory of the end-effector in real time that approximates the demonstrated reference path. The control system is also programmed to modify movement of the end-effector in real time via the VCM in response to perturbations of movement of the end-effector.

Abstract translation: 机器人系统包括末端执行器和控制系统。 控制系统包括处理器，动力系统模块（DSM）和速度控制模块（VCM）。 通过执行方法，DSM通过流矢量场处理输入并输出控制速度命令。 输入可以包括实际位置，期望的目标位置，以及演示的末端执行器的参考路径。 VCM接收末端执行器和控制速度指令的实际速度作为输入，并将电机转矩指令作为输出指令发送到末端执行器。 控制系统采用预定的微分方程组来实时地生成末端执行器的运动轨迹，其近似所演示的参考路径。 控制系统也被编程为响应于端部执行器的运动的扰动，通过VCM实时地修改末端执行器的运动。

公开(公告)号：US09616569B2

公开(公告)日：2017-04-11

申请号：US14602519

申请日：2015-01-22

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Ryan M. Uhlenbrock ,  Heiko Hoffmann

IPC: B25J9/16 ,  G06T7/00

CPC classification number: B25J9/1653 ,  B25J9/1674 ,  B25J9/1692 ,  B25J9/1697 ,  G05B2219/40611 ,  G06T7/70 ,  Y10S901/09 ,  Y10S901/47

Abstract: A method for calibrating an articulable end effector of a robotic arm employing a digital camera includes commanding the end effector to achieve a plurality of poses. At each commanded end effector pose, an image of the end effector with the digital camera is captured and a scene point cloud including the end effector is generated based upon the captured image of the end effector. A synthetic point cloud including the end effector is generated based upon the commanded end effector pose, and a first position of the end effector is based upon the synthetic point cloud, and a second position of the end effector associated with the scene point cloud is determined. A position of the end effector is calibrated based upon the first position of the end effector and the second position of the end effector for the plurality of commanded end effector poses.

公开(公告)号：US09403275B2

公开(公告)日：2016-08-02

申请号：US14517245

申请日：2014-10-17

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Heiko Hoffmann ,  Derek Mitchell

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/1676 ,  B25J9/1697 ,  G05B2219/39082 ,  G05B2219/39091 ,  G05B2219/40475 ,  G05B2219/40476 ,  G05B2219/40519

Abstract: A robotic system includes an end-effector, an input device, and a controller. The input device is operable for collecting data defining a position and a velocity of a dynamic obstacle in an environment of the end-effector. The dynamic obstacle has an arbitrary shape. The controller is in communication with the end-effector and is programmed to execute a method and thereby receive a set of inputs via the input device, including the position and velocity of the dynamic obstacle. The controller computes a contour function defining the closest allowed distance and direction between the end-effector and the dynamic obstacle using the Gilbert-Johnson-Keerthi algorithm, and controls the end-effector via an output command to thereby avoid contact between the end-effector and the dynamic obstacle.

Abstract translation: 机器人系统包括末端执行器，输入装置和控制器。 输入装置可操作用于收集限定末端执行器环境中的动态障碍物的位置和速度的数据。 动态障碍具有任意形状。 控制器与末端执行器通信，并被编程为执行一种方法，从而经由输入装置接收一组输入，包括动态障碍物的位置和速度。 控制器使用Gilbert-Johnson-Keerthi算法计算定义最终执行器和动态障碍物之间最接近的允许距离和方向的轮廓函数，并通过输出命令控制末端执行器，从而避免端部执行器 和动态障碍。

公开(公告)号：US20160214255A1

公开(公告)日：2016-07-28

申请号：US14602519

申请日：2015-01-22

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Ryan M. Uhlenbrock ,  Heiko Hoffmann

IPC: B25J9/16

CPC classification number: B25J9/1653 ,  B25J9/1674 ,  B25J9/1692 ,  B25J9/1697 ,  G05B2219/40611 ,  G06T7/70 ,  Y10S901/09 ,  Y10S901/47

Abstract: A method for calibrating an articulable end effector of a robotic arm employing a digital camera includes commanding the end effector to achieve a plurality of poses. At each commanded end effector pose, an image of the end effector with the digital camera is captured and a scene point cloud including the end effector is generated based upon the captured image of the end effector. A synthetic point cloud including the end effector is generated based upon the commanded end effector pose, and a first position of the end effector is based upon the synthetic point cloud, and a second position of the end effector associated with the scene point cloud is determined. A position of the end effector is calibrated based upon the first position of the end effector and the second position of the end effector for the plurality of commanded end effector poses.

Abstract translation: 使用数字照相机校准机器人手臂的可关节端部执行器的方法包括命令末端执行器以实现多个姿态。 在每个命令末端的执行器姿态中，捕获具有数字照相机的末端执行器的图像，并且基于末端执行器的捕获图像产生包括末端执行器的场景点云。 基于指令的末端执行器姿态产生包括末端执行器的合成点云，并且末端执行器的第一位置基于合成点云，并且确定与场景点云相关联的末端执行器的第二位置 。 基于末端执行器的第一位置和用于多个命令的末端执行器姿态的末端执行器的第二位置校准末端执行器的位置。