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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Main Author | |
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Format | Patent |
Language | English |
Published |
17.04.2024
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Subjects | |
Online Access | Get full text |
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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. |
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Bibliography: | Application Number: GB20240001206 |