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:
Dec. 29, 2015
Filed:
Sep. 17, 2013
Applicants:
Matthew Murray Williamson, Marblehead, MA (US);
Matthew Dicicco, Cambridge, MA (US);
Joseph M. Romano, Somerville, MA (US);
Inventors:
Matthew Murray Williamson, Marblehead, MA (US);
Matthew DiCicco, Cambridge, MA (US);
Joseph M. Romano, Somerville, MA (US);
Assignee:
Rethink Robotics, Inc., Boston, MA (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G05B 19/04 (2006.01); G05B 19/18 (2006.01); B25J 9/16 (2006.01); G05B 19/423 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1633 (2013.01); B25J 9/1643 (2013.01); G05B 19/423 (2013.01); G05B 2219/36432 (2013.01); G05B 2219/40365 (2013.01);
Abstract
Redundant robotic manipulators may be constrained in their motions during operation in a gravity-compensated mode by applying, in addition to gravity-compensating torques, constraining torques to one or more of the joints. The constraining torques may urge the manipulator to a specified canonical posture, and may be modeled by virtual springs attached to the constrained joints.