ROBOTIC JOINT CONTROL
A computer-implemented method of controlling a robotic system, the robotic system comprising a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising n joints, where ngt; 1 whereby the configuration of the arm can be varied thereby, the arm havi...
Saved in:
Main Author | |
---|---|
Format | Patent |
Language | Chinese English |
Published |
21.06.2022
|
Subjects | |
Online Access | Get full text |
Cover
Loading…
Summary: | A computer-implemented method of controlling a robotic system, the robotic system comprising a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising n joints, where ngt; 1 whereby the configuration of the arm can be varied thereby, the arm having a plurality of configurations for a given relationship between the base and the attachment for the instrument, the robot comprising a driver for each joint, the drivers being configured to drive the joints in movement, and a joint sensor for each joint, the joint sensor is used for sensing the state of the joint; and a control unit configured to: obtain a desired position of the attachment for the instrument; for each of the k joints, wherein klt; n, acquiring a sensed joint state; comparing the obtained k sensed joint states with a set of constraint criteria indicative of movement of the arm from a first configuration towards a second configuration, where movement of the arm is more constrained in the second co |
---|---|
Bibliography: | Application Number: CN202080075837 |