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Smart kickstand for balancing a mobile robotic arm

  • US 9,889,562 B1
  • Filed: 10/16/2015
  • Issued: 02/13/2018
  • Est. Priority Date: 10/16/2015
  • Status: Active Grant
First Claim
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1. A system comprising:

  • a mobile base;

    a robotic arm coupled to the mobile base, wherein the robotic arm comprises a plurality of arm segments coupled via at least one joint, wherein the at least one joint comprises at least one joint angle sensor;

    an adjustable support member coupled to the mobile base, wherein the adjustable support member is configured to be deployed at various angles within a range of rotational angles about a vertical axis, wherein the vertical axis passes through the mobile base; and

    a controller comprising a memory and a processor, wherein the memory stores instructions that are executable by the processor to cause the controller to perform operations comprising;

    receiving, from the at least one joint angle sensor, information indicative of an angle of the at least one joint;

    based on the information indicative of the angle of the at least one joint, determining that a torque induced, at least in part, by the robotic arm is above a predetermined torque threshold, wherein the torque comprises a moment of force about the mobile base, wherein the predetermined torque threshold is based on a balance instability condition of the system; and

    causing the adjustable support member to extend out of the mobile base to a deployed position at one of the various angles, within the range of rotational angles, that counteracts the torque.

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