Applying workspace limitations in a velocity-controlled robotic mechanism
First Claim
1. A robotic system comprising:
- a robotic mechanism responsive to velocity control signals, wherein the robotic mechanism has at least two degrees of freedom and a permissible workspace defined by respective axes of the robotic mechanism; and
a host machine configured to control an operation of the robotic mechanism, and to apply a convex-polygon boundary to the permissible workspace, wherein the boundary has a centroid and is defined by multiple edges and corner points, and includes a buffer that is surrounded by the multiple edges, wherein the host machine includes an algorithm, the execution of which by the host machine causes the host machine to;
determine a position of a reference point on the robotic mechanism with respect to the boundary;
divide the workspace into a plurality of arc segments defined by line segments drawn radially-outward from the centroid to the corner points; and
enforce the boundary by automatically shaping the velocity control signals as a function of the position of the reference point with respect to the buffer, the corner points, and the line segments using an arc segment test, thereby providing a smooth and unperturbed operation of the robotic mechanism along the edges and corners of the boundary.
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Accused Products
Abstract
A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position.
13 Citations
14 Claims
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1. A robotic system comprising:
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a robotic mechanism responsive to velocity control signals, wherein the robotic mechanism has at least two degrees of freedom and a permissible workspace defined by respective axes of the robotic mechanism; and a host machine configured to control an operation of the robotic mechanism, and to apply a convex-polygon boundary to the permissible workspace, wherein the boundary has a centroid and is defined by multiple edges and corner points, and includes a buffer that is surrounded by the multiple edges, wherein the host machine includes an algorithm, the execution of which by the host machine causes the host machine to; determine a position of a reference point on the robotic mechanism with respect to the boundary; divide the workspace into a plurality of arc segments defined by line segments drawn radially-outward from the centroid to the corner points; and enforce the boundary by automatically shaping the velocity control signals as a function of the position of the reference point with respect to the buffer, the corner points, and the line segments using an arc segment test, thereby providing a smooth and unperturbed operation of the robotic mechanism along the edges and corners of the boundary. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A host machine adapted for use within a robotic system having a robotic mechanism responsive to velocity control signals, wherein the robotic mechanism has at least two degrees of freedom and a permissible workspace defined by a convex-polygon boundary having a centroid and defined by multiple edges and corner points, and including a defined buffer surrounded by the multiple edges, the host machine comprising:
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a hardware module configured to control an operation of the robotic mechanism, and further configured to determine a position of a reference point on the robotic mechanism with respect to the convex-polygon boundary; and a recorded algorithm; wherein execution of the recorded algorithm by the hardware module causes the host machine to; determine the position of the reference point with respect to the buffer, the corner points, and the edges; divide the permissible workspace into a plurality of arc segments defined by line segments drawn radially-outward from the centroid to the corner points; enforce the boundary by automatically shaping the velocity control signals as a function of the position of the reference point with respect to the buffer, the corner points, and the line segments using an arc segment test, thereby providing a smooth and unperturbed operation of the robotic mechanism along the edges and corners of the boundary. - View Dependent Claims (8, 9, 10)
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11. A method for enforcing a convex-polygon boundary of a permissible workspace for a robotic mechanism having at least two degrees of freedom, the boundary having a centroid and defined by multiple edges and corner points, and including a buffer surrounded by the multiple edges, the method comprising:
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determining whether a reference point on the robotic mechanism lies within the boundary; dividing the permissible workspace into a plurality of arc segments defined by line segments drawn radially-outward from the centroid to the corner points; and automatically shaping the velocity control signals as a function of the position of the reference point with respect to the buffer, the corner points, and the line segments, using an arc segment test, thereby providing a smooth and unperturbed operation of the robotic mechanism along the perimeter and within the corners of the boundary. - View Dependent Claims (12, 13, 14)
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Specification