A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates robot arm kinematics using the current robot base position and the end effector path and controls the robot arm to cause the end effector to be moved towards the end effector destination.
Robot arm kinematics for end effector control
2025-01-28
Patent
Electronic Resource
English
IPC: | B25J Manipulatoren , MANIPULATORS / B28D Bearbeiten von Stein oder steinähnlichen Werkstoffen , WORKING STONE OR STONE-LIKE MATERIALS / B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS / B66C Krane , CRANES / E04B Allgemeine Baukonstruktionen , GENERAL BUILDING CONSTRUCTIONS / E04F FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS , Ausbau von Bauwerken, z.B. Treppen, Fußböden / E04G SCAFFOLDING , Baugerüste / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
NTIS | 1986
|Stabilizing the End-effector of a Mobile Manipulator Using Kinematics Modeling
BASE | 2015
|Wiley | 2021
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