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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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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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3.发明申请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法强力运转机器人手指公开(公告)号：US20120109379A1
公开(公告)日：2012-05-03
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
IPC分类号： G05B15/00
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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公开(公告)号：US20110067521A1
公开(公告)日：2011-03-24
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译： 人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。 躯干沿主轴延伸并呈现一对肩。 所述一对臂从所述一对肩部中的相应一个可移动地延伸。 每个臂具有多个臂关节。 颈部沿着主轴从躯干运动地延伸。 颈部至少有一个颈关节。 头部从颈部沿着主轴线可移动地延伸。 头部至少有一个头关节。 肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。
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5.发明申请公开(公告)号：US20110295419A1
公开(公告)日：2011-12-01
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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公开(公告)号：US20110071678A1
公开(公告)日：2011-03-24
申请号：US12564086
申请日：2009-09-22
申请人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew` , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
发明人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew` , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
CPC分类号： B25J15/0009 , B25J9/104 , Y10T74/20305
摘要： A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.
摘要翻译： 人形机器人包括具有至少一根手指的机器手。 用于机器人手指的致动系统包括由机器人支撑并与手指间隔开的致动器组件。 腱从致动器组件延伸到至少一个手指并且终止于腱终止器中。 致动器组件可操作以致动肌腱以移动肌腱终端器，从而移动手指。
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公开(公告)号：US08170718B2
公开(公告)日：2012-05-01
申请号：US12338697
申请日：2008-12-18
申请人： Muhammad E. Abdallah , Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Brian Hargrave
发明人： Muhammad E. Abdallah , Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Brian Hargrave
IPC分类号： G06F19/00
CPC分类号： B25J9/1653 , G05B2219/39343 , G05B2219/40352
摘要： A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.
摘要翻译： 一种用于为机器人操纵器提供多重优先级阻抗控制的系统和方法，其中阻抗定律同时实现并且具有给定的优先顺序。 该方法包括用于实现笛卡尔空间阻抗目标作为第一优先级的控制方案，同时还实现作为第二优先级的联合空间阻抗目标。 该方法还包括用于实现具有不同优先级的两个笛卡尔空间阻抗目标的控制方案。 该方法包括使用安装在末端执行器处的力传感器的反馈和不使用该反馈的控制方案的其他实例的控制方案的实例。
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公开(公告)号：US20100161127A1
公开(公告)日：2010-06-24
申请号：US12338697
申请日：2008-12-18
申请人： Muhammad E. Abdallah , Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Brian Hargrave
发明人： Muhammad E. Abdallah , Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Brian Hargrave
CPC分类号： B25J9/1653 , G05B2219/39343 , G05B2219/40352
摘要： A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.
摘要翻译： 一种用于为机器人操纵器提供多重优先级阻抗控制的系统和方法，其中阻抗定律同时实现并且具有给定的优先顺序。 该方法包括用于实现笛卡尔空间阻抗目标作为第一优先级的控制方案，同时还实现作为第二优先级的联合空间阻抗目标。 该方法还包括用于实现具有不同优先级的两个笛卡尔空间阻抗目标的控制方案。 该方法包括使用安装在末端执行器处的力传感器的反馈和不使用该反馈的控制方案的其他实例的控制方案的实例。
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公开(公告)号：US08060250B2
公开(公告)日：2011-11-15
申请号：US12335153
申请日：2008-12-15
申请人： Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Muhammad E. Abdallah , Brian Hargrave
发明人： Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Muhammad E. Abdallah , Brian Hargrave
IPC分类号： G06F19/00
CPC分类号： B25J9/1633 , G05B2219/39457
摘要： A system and method for controlling tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints. The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear operation. The method calculates this torque error using sensed tendon tensions and a reference torque and internal tension. The method can be used to control joint impedance by calculating the reference torque based on a joint position error. The method limits minimum and maximum tendon tensions by projecting the torque error into the tendon tension space and then projecting ii back into joint space.
摘要翻译： 用于控制腱驱动的操纵器的系统和方法，其提供关节扭矩或关节阻抗的闭环控制，而不引起关节之间的动态联接。 该方法包括通过使用单个线性运算将扭矩误差投影到腱位置空间来计算腱参考位置或电动机命令。 该方法使用感测到的腱张力和参考扭矩和内部张力来计算该扭矩误差。 该方法可用于通过基于关节位置误差计算参考扭矩来控制关节阻抗。 该方法通过将扭矩误差投影到腱张力空间中，然后将ii投射到关节空间中来限制最小和最大肌腱张力。
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10.发明申请ARCHITECTURE FOR ROBUST FORCE AND IMPEDANCE CONTROL OF SERIES ELASTIC ACTUATORS 有权系列弹性执行机构的强制力和阻力控制结构公开(公告)号：US20110190934A1
公开(公告)日：2011-08-04
申请号：US12698832
申请日：2010-02-02
申请人： Matthew J. Reiland , Brian Hargrave , Robert Platt , Muhammad E. Abdallah , Frank Noble Permenter
发明人： Matthew J. Reiland , Brian Hargrave , Robert Platt , Muhammad E. Abdallah , Frank Noble Permenter
IPC分类号： G05B15/00
CPC分类号： G05B15/00 , B25J9/1641 , G05B2219/39186
摘要： An SEA architecture for controlling the torque applied by an SEA that has particular application for controlling the position of a robot link. The SEA architecture includes a motor coupled to one end of an elastic spring and a load coupled to an opposite end of the elastic spring, where the motor drives the load through the spring. The orientation of the shaft of the motor and the load are measured by position sensors. Position signals from the position sensors are sent to an embedded processor that determines the orientation of the load relative to the motor shaft to determine the torque on the spring. The embedded processor receives reference torque signals from a remote controller, and the embedded processor operates a high-speed servo loop about the desired joint torque. The remote controller determines the desired joint torque based on higher order objectives by their impedance or positioning objectives.
摘要翻译： 用于控制由SEA施加的扭矩的SEA架构，其具有用于控制机器人连杆的位置的特定应用。 SEA架构包括耦合到弹性弹簧的一端的电动机和耦合到弹性弹簧的相对端的负载，其中电动机通过弹簧驱动负载。 电机轴和负载的方向由位置传感器测量。 来自位置传感器的位置信号被发送到嵌入式处理器，其确定负载相对于电动机轴的取向以确定弹簧上的扭矩。 嵌入式处理器从遥控器接收参考扭矩信号，并且嵌入式处理器围绕期望的关节扭矩操作高速伺服回路。 遥控器通过其阻抗或定位目标基于更高阶的目标确定期望的关节扭矩。
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