The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 15, 2022
Filed:
Jan. 27, 2020
GM Global Technology Operations Llc, Detroit, MI (US);
Universite Laval, Quebec, CA;
Muhammad E. Abdallah, Rochester Hills, MI (US);
James W. Wells, Rochester Hills, MI (US);
Pascal Labrecque, Alberta, CA;
Clement Gosselin, Quebec, CA;
Thierry Laliberte, Quebec, CA;
GM Global Technology Operations LLC, Detroit, MI (US);
Universite Laval, Quebec, CA;
Abstract
A jointed mechanism includes a passive pendulum system attached to and suspended from the multi-axis robot. The system includes one or more position sensors configured to measure a joint angle on the pendulum system, at least one arm, and an end-effector attached to a distal end of the pendulum system. A controller implements a method to selectively control motion of the robot in a plurality of control modes. The control modes include a Cooperative Mode and an Autonomous Mode. The controller is configured to detect contact with the end-effector when operating in the Autonomous Mode, and to automatically initiate a control action in response to the contact. The pendulum system may be a parallelogram arrangement.