SYSTEMS AND METHODS OF COORDINATION CONTROL FOR ROBOT MANIPULATION
First Claim
1. A method of controlling a robotic apparatus comprising a plurality of movable elements coupled to one another via one or more joints defining one or more degrees of freedom of movement for each of the movable elements, at least one of said movable elements comprising a mobile base for the apparatus, the control method comprising:
- receiving input signals indicating a desired position or motion constraint for at least one of the movable elements;
generating, based on the input signals, a plurality of control signals to control movement of the mobile base and at least one other movable element to achieve the desired motion by optimizing a pre-defined scalar function of the motion and positions of the movable elements and the mobile base;
applying the control signals to the mobile base and the at least one other movable element to concurrently move the mobile base and the at least one other movable element to effect the desired motion.
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Accused Products
Abstract
Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.
133 Citations
39 Claims
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1. A method of controlling a robotic apparatus comprising a plurality of movable elements coupled to one another via one or more joints defining one or more degrees of freedom of movement for each of the movable elements, at least one of said movable elements comprising a mobile base for the apparatus, the control method comprising:
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receiving input signals indicating a desired position or motion constraint for at least one of the movable elements; generating, based on the input signals, a plurality of control signals to control movement of the mobile base and at least one other movable element to achieve the desired motion by optimizing a pre-defined scalar function of the motion and positions of the movable elements and the mobile base; applying the control signals to the mobile base and the at least one other movable element to concurrently move the mobile base and the at least one other movable element to effect the desired motion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A robotic system, comprising:
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a plurality of movable elements coupled to one another via one or more joints defining one or more degrees of freedom of movement for each of the movable elements, at least one of said movable elements comprising a mobile base; a user input device for receiving input signals indicating a desired position or motion constraint for at least one point on one of the movable elements; one or more processors coupled to the input device and generating a plurality of control signals to control movement of the mobile base and at least one other movable element to achieve the desired motion by optimizing a pre-defined scalar function of motion and positions of the movable elements and the mobile base; one or more actuators coupled to the plurality of movable elements and to the one or more processors, the one or more actuators effecting the desired motion by concurrently moving the mobile base and the at least one other movable element in accordance with the control signals. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32)
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33. A robotic system, comprising:
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a plurality of movable elements coupled to one another via one or more joints defining one or more degrees of freedom of movement for each of the movable elements, at least one of said movable elements comprising a mobile base; a user input device for receiving input signals indicating a desired motion for at least one point on one of the movable elements; one or more processors receiving the input signals and generating a plurality of control signals to control movement of the mobile base and at least one other movable element to achieve the desired motion; one or more actuators coupled to the plurality of movable elements and to the one or more processors, the one or more actuators effecting the desired motion by concurrently moving the mobile base and the at least one other movable element in accordance with the control signals, wherein the one or more processors generates the control signals using the following equation; where q is a n-length vector representation of the positions of the one or more joints and the mobile base;
with {dot over (q)} being its time derivative;
V is a m-length vector representation of desired motion of at least one point on one of the plurality of movable elements;
J is an (m×
n) manipulator Jacobian;
NjT is an n×
(n−
m) set of vectors defined such that JNJT=0;
W is a matrix function W(q);
F is the gradient of scalar function f(q);
α
is a scalar.- View Dependent Claims (34, 35, 36, 37, 38, 39)
where μ
represents a parameter to be optimized that reflects the control strategy.
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36. The system of claim 33, further comprising an operator control unit that (i) displays a plurality of views of the robotic apparatus pose, and (ii) allows a user to control the robotic apparatus from each of the plurality of the views.
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37. The system of claim 36, wherein the operator control unit requires only a single user action to switch control between the plurality of views.
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38. The system of claim 36, wherein the plurality of views comprise a plurality of rendered views.
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39. The system of claim 33, further comprising an operator control unit that (i) displays a plurality of views of the robotic apparatus pose, (ii) allows a user to control the robotic apparatus from each of the plurality of views, and (iii) automatically updates each of the plurality of views based on a user'"'"'s control input in any one view.
Specification