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Generalized compliant motion primitive

  • US 5,341,459 A
  • Filed: 08/09/1991
  • Issued: 08/23/1994
  • Est. Priority Date: 05/09/1991
  • Status: Expired due to Fees
First Claim
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1. A method of operating a telerobot, comprising the steps of:

  • transferring a set of input parameters from a local control site to a remote execution site including a telerobot, said input parameters specifying desired telerobot trajectory behavior in Cartesian space including behavior based on remote and local site sensor information and desired termination conditions;

    retrieving a general motion primitive at the remote site for autonomous, remote site closed loop control of the telerobot to perform a compliant motion task in response to the set of input parameters and to remote and local sensor data;

    autonomously generating trajectory motion input at the remote site with the general motion primitive in response to said input parameters specifying desired telerobot trajectory behavior, said trajectory motion input being held constant during an ending motion time segment at a value related to its final value during a nominal motion time segment occurring before the ending motion time segment;

    autonomously generating sensor specific remote sensor motion input at the remote site with the general motion primitive for each of a plurality of remote sensors with regard to a coordinate frame specific to that remote sensor in response to a combination of said input parameters related to each of said remote sensors specifying desired telerobot behavior based on remote site sensor information and sensor data originating at the remote site related to each of said remote sensors;

    autonomously generating sensor specific local sensor motion input at the remote site with the general motion primitive for each of a plurality of local sensors with regard to a coordinate frame specific to that local sensor in response to a combination of said input parameters related to each of said local sensors specifying desired telerobot behavior based on local site sensor information and sensor data originating at the local site related to each of said local sensors;

    autonomously generating sensor specific virtual sensor motion input at the remote site with the general motion primitive for each of a plurality of virtual sensors with regard to a coordinate frame specific to that virtual sensor in response to a combination of said input parameters related to each of said virtual sensors specifying desired telerobot behavior based on virtual sensor information and virtual sensor data related to each of said virtual sensors;

    transforming each said sensor specific motion input into a common coordinate frame;

    merging all sensor specific motion inputs in said common coordinate frame together to generate a sensor based motion input in said common coordinate frame;

    integrating said sensor based motion input with previous sensor based motion input to form a cumulative sensor based motion input;

    resolving a kinematic ring equation to specify the Cartesian spatial relationships between the trajectory motion input and the cumulative sensor based motion input at the remote site to generate task level commands in Cartesian space for controlling the motion of the telerobot to perform said compliant motion task;

    transforming the task level commands at the remote site to produce joint angle commands to control the motion of the telerobot to perform the compliant motion task;

    generating nominal motion monitoring information at the remote site during the nominal motion time segment in response to input parameters, sensor data and the motion of the telerobot to determine if telerobot motion is within predetermined limits during the nominal motion time segment; and

    generating ending motion monitoring information at the remote site during the ending motion time segment in response to sensor data and the motion of the telerobot to determine when to terminate telerobot motion in accordance with said input parameters specifying desired termination conditions.

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