Available Technology

WORKSPACE SAFE OPERATION OF A FORCE- OR IMPEDANCE-CONTROLLED ROBOT

PROBLEM TO BE SOLVED: To provide a robot control method that limits a pressing force to an external object within an unstructured workspace.SOLUTION: The method includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment. The method 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 controller controls the manipulator using force- or impedance-based commands.
Inventors: 

Muhammad E. Abdallah

Patent Number: 
JP2012056074
Patent Issue Date: 
April 22, 2012
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