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Workspace safe operation of a force- or impedance-controlled robot
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Copyright Year | 2013 |
| Description | A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above. |
| File Size | 663289 |
| Page Count | 8 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_20140016591 |
| Archival Resource Key | ark:/13960/t6rz48b7m |
| Language | English |
| Publisher Date | 2013-07-09 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics, Artificial Intelligence And Robotics Controllers Patents Degrees of Freedom Robot Control Torque Sensors Robotics Manipulators End Effectors Safety Impedance Robots Loads Forces Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Patent |
