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Control system and method for applying force to grasp a brake lever

  • US 10,272,573 B2
  • Filed: 03/02/2016
  • Issued: 04/30/2019
  • Est. Priority Date: 12/18/2015
  • Status: Active Grant
First Claim
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1. An automation system comprising:

  • an end-effector comprising a plurality of arms, wherein the end-effector is configured to grasp a brake lever by one or more of the plurality of arms based on a motion trajectory and feedback from at least one sensor to one or more of position or orient the end-effector;

    a manipulator comprising one or more joints, the end-effector coupled to the manipulator, wherein the one or more joints are configured to move the end-effector relative to the brake lever based on the motion trajectory;

    a force/torque (F/T) sensor coupled to the end-effector and configured to acquire F/T data associated with the end-effector; and

    a controller circuit coupled to the F/T sensor and configured to receive the F/T data, wherein the controller circuit adjusts the motion trajectory based on the F/T data, and wherein the controller circuit is further coupled to the end-effector and the manipulator and configured to dynamically control amount of forces exerted along horizontal, vertical directions and torque on at least one of the end-effector and the manipulator based on an adjusted motion trajectory, and wherein the controller is configured to determine a confidence value or an index based on a difference between predicted values and the force/torque F/T data acquired from the F/T sensor for validating release of the brake lever.

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