System with brake to limit manual movement of member and control system for same
First Claim
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1. A robotic system, comprising:
- an articulated member comprising a joint and configured to be manually moved by a user to facilitate performance of a task; and
a controller programmed to;
determine whether an angular position of the joint is moved within an angular range of motion defined by a braking region;
generate a force feedback signal compensating for a gravitational load on the articulated member to inhibit manual movement in space of at least a portion of the articulated member when the angular position of the joint is in the braking region; and
maintain the force feedback signal until a user disengages force feedback.
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Abstract
A robotic system includes an articulated member comprising a joint and configured to be manually moved by a user to facilitate performance of a task and a controller. The controller is programmed to determine whether an angular position of the joint is moved within an angular range of motion defined by a braking region, generate a force feedback signal compensating for a gravitational load on the articulated member to inhibit manual movement in space of at least a portion of the articulated member when the angular position of the joint is in the braking region, and maintain the force feedback signal until a user disengages the force feedback.
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Citations
21 Claims
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1. A robotic system, comprising:
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an articulated member comprising a joint and configured to be manually moved by a user to facilitate performance of a task; and a controller programmed to; determine whether an angular position of the joint is moved within an angular range of motion defined by a braking region; generate a force feedback signal compensating for a gravitational load on the articulated member to inhibit manual movement in space of at least a portion of the articulated member when the angular position of the joint is in the braking region; and maintain the force feedback signal until a user disengages force feedback. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of inhibiting movement of an articulated member, comprising:
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determining whether an angular position of a joint of the articulated member is moved within an angular range of motion defined by a braking region; generating a force feedback signal compensating for a gravitational load on the articulated member to inhibit manual movement in space of at least a portion of the articulated member when the angular position of the joint is in the braking region; and maintaining the force feedback signal until a user disengages force feedback. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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17. A control system configured to be integrated with a robotic system having a moveable member comprising a joint, comprising:
a controller programmed to; determine whether an angular position of the joint is moved within an angular range of motion defined by a braking region; generate a force feedback signal compensating for a gravitational load on the moveable member to inhibit manual movement in space of at least a portion of the moveable member when the angular position of the joint is in the braking region; and maintain the force feedback signal until a user disengages force feedback. - View Dependent Claims (18, 19, 20, 21)
Specification