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公开(公告)号：US08483877B2
公开(公告)日：2013-07-09
申请号：US12875254
申请日：2010-09-03
CPC分类号： B25J9/1633 , G05B2219/39505
摘要： A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.
摘要翻译： 控制非结构化工作区内的力或阻抗控制的机器人的机器人操纵器的方法包括对由机械手施加到其周围环境的静力施加饱和极限，并且可以包括确定操纵器和操纵器之间的接触力 对象在非结构化工作空间中，并且当接触力超过阈值时执行动态反射，从而减轻饱和受限静态力未解决的惯性冲击。 该方法可以包括计算由关节致动器赋予机器人接头所需的反射扭矩。 机器人系统包括具有非结构化工作空间的机器人操纵器和电连接到操纵器的控制器，并且其使用基于力或基于阻抗的命令来控制操纵器。 这里也公开的控制器自动施加饱和极限并且可以执行上述动态反射。
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公开(公告)号：US20120059515A1
公开(公告)日：2012-03-08
申请号：US12875254
申请日：2010-09-03
CPC分类号： B25J9/1633 , G05B2219/39505
摘要： A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.
摘要翻译： 控制非结构化工作区内的力或阻抗控制的机器人的机器人操纵器的方法包括对由机械手施加到其周围环境的静力施加饱和极限，并且可以包括确定操纵器和操纵器之间的接触力 对象在非结构化工作空间中，并且当接触力超过阈值时执行动态反射，从而减轻饱和受限静态力未解决的惯性冲击。 该方法可以包括计算由关节致动器赋予机器人接头所需的反射扭矩。 机器人系统包括具有非结构化工作空间的机器人操纵器和电连接到操纵器的控制器，并且其使用基于力或基于阻抗的命令来控制操纵器。 这里也公开的控制器自动施加饱和极限并且可以执行上述动态反射。
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