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:
Jul. 09, 2013
Filed:
Sep. 03, 2010
Muhammad E. Abdallah, Houston, TX (US);
Brian Hargrave, Dickenson, TX (US);
John D. Yamokoski, Houston, TX (US);
Philip A. Strawser, Houston, TX (US);
Muhammad E. Abdallah, Houston, TX (US);
Brian Hargrave, Dickenson, TX (US);
John D. Yamokoski, Houston, TX (US);
Philip A. Strawser, Houston, TX (US);
GM Global Technology Operations LLC, Detroit, MI (US);
The United States of America as represented by the Administrator of the National Aeronautics and Space Administration, Washington, DC (US);
Abstract
A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and 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 robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.