利索-全球专利检索

  1. 登录
  2. 注册

搜索结果

20 条记录 (耗时 0.03 秒)

    ROBUST OPERATION OF TENDON-DRIVEN ROBOT FINGERS USING FORCE AND POSITION-BASED CONTROL LAWS
    1.
    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。

    TORQUE CONTROL OF UNDERACTUATED TENDON-DRIVEN ROBOTIC FINGERS
    3.
    发明申请
    TORQUE CONTROL OF UNDERACTUATED TENDON-DRIVEN ROBOTIC FINGERS 有权
    受力驱动的机动手指的扭矩控制

    公开(公告)号：US20100280662A1

    公开(公告)日：2010-11-04

    申请号：US12720727

    申请日：2010-03-10

    申请人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert J. Platt, JR. ,  Lyndon Bridgwater

    发明人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert J. Platt, JR. ,  Lyndon Bridgwater

    IPC分类号： G05B15/00

    CPC分类号： H01R13/17 ,  H01R13/052

    摘要： A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

    摘要翻译： 机器人系统包括具有等于至少n的总自由度（DOF）等于至少n的机器人，由n个腱和n个DOF驱动的欠驱动的腱驱动的手指，所述手指具有至少两个关节，其特征在于不对称的 一个实施例中的接头半径。 控制器与机器人通信，并且使用力控制来控制腱驱动的手指的致动。 通过对肌腱的力控制操作手指，而不是位置控制，消除了否则存在的无约束的松弛空间。 控制器可以利用非对称关节半径来独立地命令关节扭矩。 控制手指的方法包括将独立或参数化的关节扭矩指令给控制器以通过对肌腱上的力控制来致动手指。

    Torque control of underactuated tendon-driven robotic fingers
    5.
    发明授权
    Torque control of underactuated tendon-driven robotic fingers 有权
    欠肌腱驱动机器人手指的扭矩控制

    公开(公告)号：US08565918B2

    公开(公告)日：2013-10-22

    申请号：US12720727

    申请日：2010-03-10

    申请人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert Platt ,  Lyndon Bridgwater

    发明人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert Platt ,  Lyndon Bridgwater

    IPC分类号： G06F19/00

    CPC分类号： H01R13/17 ,  H01R13/052

    摘要： A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

    摘要翻译： 机器人系统包括具有等于至少n的总自由度（DOF）等于至少n的机器人，由n个腱和n个DOF驱动的欠驱动的腱驱动的手指，所述手指具有至少两个关节，其特征在于不对称的 一个实施例中的接头半径。 控制器与机器人通信，并且使用力控制来控制腱驱动的手指的致动。 通过对肌腱的力控制操作手指，而不是位置控制，消除了否则存在的无约束的松弛空间。 控制器可以利用非对称关节半径来独立地命令关节扭矩。 控制手指的方法包括将独立或参数化的关节扭矩指令给控制器以通过对肌腱上的力控制来致动手指。

    METHOD AND APPARATUS FOR AUTOMATIC CONTROL OF A HUMANOID ROBOT
    6.
    发明申请
    METHOD AND APPARATUS FOR AUTOMATIC CONTROL OF A HUMANOID ROBOT 有权
    人类机器人自动控制的方法和装置

    公开(公告)号：US20100280663A1

    公开(公告)日：2010-11-04

    申请号：US12624445

    申请日：2009-11-24

    申请人： Muhammad E. Abdallah ,  Robert J. Platt, JR. ,  Charles W. Wampler, II ,  Matthew J. Reiland ,  Adam M. Sanders

    发明人： Muhammad E. Abdallah ,  Robert J. Platt, JR. ,  Charles W. Wampler, II ,  Matthew J. Reiland ,  Adam M. Sanders

    IPC分类号： B25J13/00

    CPC分类号： H01R13/17 ,  H01R13/052

    摘要： A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.

    摘要翻译： 机器人系统包括具有适于对由机器人作用的物体进行力控制的多个关节的人形机器人，用于从用户接收输入信号的图形用户界面（GUI）和控制器。 GUI为用户提供对控制器的直观编程访问。 控制器使用基于阻抗的控制框架控制关节，该框架响应于输入信号提供机器人的物体水平，末端执行器水平和/或联合空间级控制。 用于控制机器人系统的方法包括经由GUI接收输入信号，例如期望的力，然后使用主机处理输入信号，以经由基于阻抗的控制框架来控制关节。 该框架提供了机器人的对象级别，末端执行器级别和/或联合空间级别控制，并允许基于功能的GUI来简化无数操作模式的实现。

    Multiple priority operational space impedance control
    7.
    发明授权
    Multiple priority operational space impedance control 有权
    多重优先级操作空间阻抗控制

    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。

    Architecture for robust force and impedance control of series elastic actuators
    8.
    发明授权
    Architecture for robust force and impedance control of series elastic actuators 有权
    串联弹性执行器强大的力和阻抗控制的结构

    公开(公告)号：US08525460B2

    公开(公告)日：2013-09-03

    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： H02P7/00

    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。

    JOINT-SPACE IMPEDANCE CONTROL FOR TENDON-DRIVEN MANIPULATORS
    9.
    发明申请
    JOINT-SPACE IMPEDANCE CONTROL FOR TENDON-DRIVEN MANIPULATORS 有权
    联动驱动控制器的联合空间阻抗控制

    公开(公告)号：US20100152898A1

    公开(公告)日：2010-06-17

    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： B25J13/00

    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。

    MULTIPLE PRIORITY OPERATIONAL SPACE IMPEDANCE CONTROL
    10.
    发明申请
    MULTIPLE PRIORITY OPERATIONAL SPACE IMPEDANCE CONTROL 有权
    多重优先操作空间阻抗控制

    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

    IPC分类号： B25J13/08 ,  G05B19/00 ,  G06F19/00 ,  G05B15/00 ,  B25J19/02

    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。