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...

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Bibliographic Details
Main Author PHILLIPS DESMOND
Format Patent
LanguageChinese
English
Published 21.06.2022
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
DIAGNOSIS
HAND TOOLS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MANIPULATORS
MEDICAL OR VETERINARY SCIENCE
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
SURGERY
TRANSPORTING
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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