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:
Nov. 08, 2016
Filed:
Mar. 05, 2014
Applicant:
The Board of Trustees of the Leland Stanford Junior University, Palo Alto, CA (US);
Inventors:
Michael Yip, Redwood City, CA (US);
David B. Camarillo, Aptos, CA (US);
Assignee:
The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US);
Primary Examiner:
Int. Cl.
CPC ...
G05B 15/02 (2006.01); G05B 19/00 (2006.01); B25J 9/16 (2006.01);
U.S. Cl.
CPC ...
G05B 15/02 (2013.01); B25J 9/1602 (2013.01); G05B 19/00 (2013.01); G05B 2219/45117 (2013.01);
Abstract
A control method includes empirically constructing for a flexible manipulator an estimated mapping between an end-effector movement and a plurality of values representing movement of at least one actuator, measuring an actual end-effector movement and an actual movement of the at least one actuator, and, based on the measuring, updating the estimated mapping while the flexible manipulator is active such that the mapping is adapted to the present environment of the flexible manipulator.