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:
Oct. 31, 2023
Filed:
May. 25, 2021
General Electric Company, Schenectady, NY (US);
General Electric Company, Schenectady, NY (US);
Abstract
The present disclosure is related to methods and systems for controlling a snake-arm robot. The method includes receiving real-time image data associated with an operating environment or a location of a workpiece from optical sensor(s) mounted on a robot head of the robot; receiving input data describing a desired pose of the robot head; computing and translating a desired displacement of the robot head; computing a position of each of the links of the snake-arm robot to follow motion of the robot head, a current position of each the links, and data required to move joints connecting the links to move the robot to the desired pose; generating movement instructions; and transmitting the movement instructions to a drive motor associated with an introduction device or controllers associated with servo-motors operably connected to joints connecting the links of the snake-arm causing the robot head to move to the desired pose.