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1. WO2019213164 - A CONTROL METHOD FOR A ROBOTIC SYSTEM

Publication Number WO/2019/213164
Publication Date 07.11.2019
International Application No. PCT/US2019/030048
International Filing Date 30.04.2019
IPC
G05B 19/04 2006.1
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
B25J 11/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
CPC
B25J 9/0006
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
0006Exoskeletons, i.e. resembling a human figure
B25J 9/1633
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1633compliant, force, torque control, e.g. combined with position control
B25J 9/1651
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1651acceleration, rate control
B25J 9/1653
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1653parameters identification, estimation, stiffness, accuracy, error analysis
B25J 9/1664
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1664characterised by motion, path, trajectory planning
G05B 19/253
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
19characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
21using an incremental digital measuring device
25for continuous-path control
251the positional error is used to control continuously the servomotor according to its magnitude
253with speed feedback only
Applicants
  • VANDERBILT UNIVERSITY [US]/[US]
Inventors
  • GOLDFARB, Michael
  • MARTINEZ-GUERRA, Andres
  • LAWSON, Brian
Agents
  • SANDHAUS, Emily N.
  • GATZ, John
  • WERBER, Matthew
Priority Data
62/664,43930.04.2018US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) A CONTROL METHOD FOR A ROBOTIC SYSTEM
(FR) PROCÉDÉ DE COMMANDE DESTINÉ À SYSTÈME ROBOTISÉ
Abstract
(EN) An exemplary robotic control system for controlling the controllable joints by the controller. The control method provides for determining a configuration space for the robotic system and determining a reference movement path within the configuration space. The control method then provides for assigning a plurality of streamlines in the configuration space to yield a flow field based on the reference movement path. The control method then provides for measuring actual velocity vectors of the robotic system in the configuration space. The control method then provides for determining an error velocity vector based on a difference between the actual velocity vector and the desired velocity vector given by the flow field corresponding to the current robot configuration. The control method then provides for applying a total control vector at the plurality of controllable joints, by the controller, based on the error velocity vector
(FR) L'invention concerne un exemple de système de commande robotisé dont un dispositif de commande permet la commande des articulations. Le procédé de commande permet de déterminer un espace de configuration pour le système robotisé et de déterminer une trajectoire de référence à l'intérieur de l'espace de configuration. Le procédé de commande permet ensuite d'attribuer une pluralité de lignes de courant dans l'espace de configuration, pour produire un champ d'écoulement en fonction de la trajectoire de référence. Le procédé de commande permet ensuite de mesurer des vecteurs vitesses réels du système robotisé dans l'espace de configuration. Le procédé de commande permet ensuite de déterminer un vecteur vitesse erroné, en fonction d'une différence entre le vecteur vitesse réel et le vecteur vitesse souhaité, donné par le champ d'écoulement correspondant à la configuration actuelle de robot. Le procédé de commande permet ensuite d'appliquer un vecteur de commande totale au niveau de la pluralité d'articulations, que le dispositif de commande peut commander, en fonction du vecteur vitesse erroné.
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