System and method for controlling a teleoperated robotic agile lift system

• US 9,533,411 B2
• Filed: 01/27/2015
• Issued: 01/03/2017
• Est. Priority Date: 04/29/2011
• Status: Active Grant

• Current Assignee: SARCOS LC (Sarcos Technology & Robotics Corp.)
• Original Assignee: SARCOS LC (Sarcos Technology & Robotics Corp.)
• Inventors: Jacobsen, Stephen C., Smith, Fraser M., Olivier, Marc X., Stilson, Shane
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US14/606,962
• Publication Number:
  US 20150142172A1
• Time in Patent Office: 707 Days
• Field of Search: 701/245, 701/247, 701/258, 701/262, 701/264, 901/1, 901/2, 901/3, 901/6, 901/8, 901/14, 901/27
• US Class Current: 1/1
• CPC Class Codes: B25J 13/025 comprising haptic means
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: B66C 1/425 motor actuated B66C1/44, B66C1/58 take precedence
• CPC Class Codes: B66C 13/44 Electrical transmitters

Abstract

A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user'"'"'s arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.

Claims

1. A system for controlling a tele-operated robot, comprising:

a master control arm comprising a plurality of support members that are each connected through rotatable joints to provide kinematic equivalence of the master control arm with a user'"'"'s arm;

a General Degree of Freedom (DOF) Controller (GDC) coupled to each rotatable joint providing a DOF in the master control arm, wherein the GDC is configured to measure a position value signal and a torque value signal for each DOF;

an operator load cell interface configured to interface with the user operating the master control arm and output a force value signal relative to a movement of the user'"'"'s arm with respect to the master control arm; and

an actuator coupled to each rotatable joint providing a DOF in the master control arm, wherein the actuator is configured to be actuated based on the position value signal, the torque value signal, and the force value signal to move the master control arm to a desired position; and

a slave arm having a plurality of support members connected through rotatable joints to provide a kinematic equivalence of the slave arm with the master control arm, wherein the slave arm is located on a mobile platform, wherein the slave arm is configured to receive the position value signal and the torque value signal from the master control arm and actuate the plurality of support members to move the slave arm to correspond with a position of the plurality of segments in the master control arm.

2. The system of claim 1, wherein the master control arm and the slave arm are both coupled to a single mobile base.

3. The system of claim 1, further comprising a master position command filter and a master torque command filter configured to filter the position value signal and the torque value signal, respectively, from each GDC in the master control arm using a compensator to improve a response of the position value signal and the torque value signal sent to the slave arm.

4. The system of claim 1, wherein the slave arm further comprises a GDC coupled to each rotatable joint providing a DOF in the slave arm, wherein the GDC is configured to measure a slave position value signal and a slave torque value signal for each DOF in the slave arm.

5. The system of claim 1, further comprising a master gravity compensation control to communicate a torque value to the actuator at each DOF of the master control arm, wherein the torque value is calculated to offset a torque value at the DOF that is caused by gravity.

6. The system of claim 1, further comprising a slave gravity compensation control to communicate a torque value to the actuator at each DOF of the slave arm, wherein the torque value is calculated to offset a torque value at the DOF that is caused by gravity.

7. The system of claim 1, further comprising a master position limiter, a master torque limiter, a master rate limiter, a slave position limiter, a slave torque limiter and a slave rate limiter to enable at least one of a position, a torque, and a rate of movement of the master control arm and the slave arm to be limited.

8. The system of claim 1, further comprising a programming module configured to output an automated operating program to control at least one of a position, a rate of movement, and a torque for one of the master control arm and the slave arm to enable automated functioning.

9. A method for controlling a tele-operated robot arm, comprising:

manipulating a human-machine interface of a master robot located on a mobile platform, wherein the human-machine interface includes a plurality of support members that are each connected through rotatable joints to provide kinematic equivalence of the human-machine interface with a user'"'"'s arm;

measuring a position value and a torque value for each support member of the human-machine interface;

measuring a force of the user'"'"'s arm applied to the human-machine interface and providing additional force values to the rotatable joints of the human-machine arm in response to the force to assist the user in moving the human-machine interface to a desired position; and

communicating the position value and the torque value to a slave arm that includes a plurality of support members connected through rotatable joints to provide a kinematic equivalence of the slave arm with the human-machine interface, wherein the slave arm is located on the mobile platform; and

rotating the joints in the slave arm based on the position value and the torque value to move the slave arm to correspond with a position of the plurality of segments in the human-machine interface.