Robotic joint control

The system comprises a robot (fig 3) having a base and an arm extending from the base to an attachment for an instrument with a plurality of joints, each joint having a driver and a sensor. A control unit is configured to obtain a desired position of the attachment for the instrument 602, obtain a s...

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Bibliographic Details
Main Author Desmond Phillips
Format Patent
LanguageEnglish
Published 17.04.2024
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:The system comprises a robot (fig 3) having a base and an arm extending from the base to an attachment for an instrument with a plurality of joints, each joint having a driver and a sensor. A control unit is configured to obtain a desired position of the attachment for the instrument 602, obtain a sensed joint state for at least one joint and compare the obtained sensed joint states to a set of constraint criteria. The set of constraint criteria being indicative of the arm moving from a first configuration towards a second configuration, where movement of the arm is more constrained in the second configuration. When the sensed joint states match the criteria, a magnitude of an adjustment signal 606 is determined to slow, halt or reverse movement of the arm towards the second configuration. Using the position, signal and sensed data a set of control signals 620 for the drivers is determined.
Bibliography:Application Number: GB20240001206