Available Technology

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

PROBLEM TO BE SOLVED: To provide a robot which is force-controlled or impedance-controlled in an unstructured workspace.SOLUTION: A method includes automatically imposing an upper limit on a static force applied by a manipulator to its surrounding environment. The method includes determining a contact force between the manipulator and an object and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the static force with the limited upper limit. The method includes a step for calculating required reflex torque imparted to a robotic joint. A robotic system includes a robotic manipulator and a controller, and the controller is electrically connected to the manipulator. The controller controls the manipulator using force-based or impedance-based commands. The controller automatically imposes the upper limit and may execute the dynamic reflex.
Inventors: 

Muhammad E. Abdallah

Patent Number: 
JP2013223921
Patent Issue Date: 
December 1, 2013
Agency
NASA
State: 
Texas
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