Remote robot control method using three-dimensional pointing procedure and robot control system using the remote robot control method
First Claim
1. A remote robot control method using a three-dimensional pointing procedure, the remote control method comprising:
- (a) measuring a distance between a remote controller and a robot;
(b) calculating an initial position of the remote controller in an inertial navigation frame of the remote controller;
(c) calculating an initial position of the robot in the inertial navigation frame of the remote controller;
(d) calculating an origin of the inertial navigation frame of the remote controller in an inertial navigation frame of the robot;
(e) calculating a new position of the remote controller in the inertial navigation frame of the remote controller;
(f) calculating a new position of the robot in the inertial navigation frame of the robot, and(g) controlling said robot based on said operations (a)-(f).
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Abstract
A remote robot control method using a three-dimensional pointing procedure and a robot control system using the remote robot control method. The robot control system controls a robot in response to a user'"'"'s gesture or sign without modifying the structure of the robot. The remote robot control method includes measuring a distance between a remote controller and a robot, calculating an initial position of the remote controller in an inertial navigation frame of the remote controller, calculating an initial position of the robot in the navigation frame of the remote controller, calculating an origin of the inertial navigation frame of the remote controller shown in an inertial navigation frame of the robot, calculating a new position of the remote controller in the inertial navigation frame of the remote controller, and calculating a new position of the robot in the navigation frame of the robot.
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Citations
28 Claims
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1. A remote robot control method using a three-dimensional pointing procedure, the remote control method comprising:
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(a) measuring a distance between a remote controller and a robot; (b) calculating an initial position of the remote controller in an inertial navigation frame of the remote controller; (c) calculating an initial position of the robot in the inertial navigation frame of the remote controller; (d) calculating an origin of the inertial navigation frame of the remote controller in an inertial navigation frame of the robot; (e) calculating a new position of the remote controller in the inertial navigation frame of the remote controller; (f) calculating a new position of the robot in the inertial navigation frame of the robot, and (g) controlling said robot based on said operations (a)-(f). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A robot control system comprising:
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a remote controller operable by a user; and a robot movable in accordance with a movement of the remote controller, wherein the remote controller comprises; a sensor to provide measurements necessary for calculating orientation and position information of the remote controller; an orientation calculator to calculate an orientation of the remote controller based on the measurements provided by the sensor; a position calculator to calculate a position of the remote controller based on the measurements provided by the sensor; a target position calculator to calculate a target position indicated by the remote controller based on the orientation and position information calculated by the orientation calculator and the position calculator; a coordinate converter to convert the target position calculated by the target position calculator in an inertial navigation frame of the remote controller into a target position shown in an inertial navigation frame of the robot; a command generator to command the robot to move to the converted target position; and a distance sensor to measure a distance between the remote controller and the robot, and wherein the robot comprises; a navigation controller to drive a navigation motor in response to a command from the command generator; and a sensor to exchange signals with the distance sensor to measure the distance between the remote controller and the robot. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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Specification