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:
Jun. 30, 2015
Filed:
Aug. 11, 2011
Jianying Shi, Oakland Township, MI (US);
Brian Hargrave, Dickenson, TX (US);
Myron a Diftler, Houston, TX (US);
Jianying Shi, Oakland Township, MI (US);
Brian Hargrave, Dickenson, TX (US);
Myron A Diftler, 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 Administrator, Washington, DC (US);
Oceaneering Space Systems, Webster, TX (US);
Abstract
A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.