Robotic manipulators

Abstract

A robot comprising a chopstick, configured for at least four degrees of freedom of movement, a stiff body of shape and proportions approximate to a pool cue; an electromagnetic actuator, comprising a motor, for each degree of freedom of movement coupled with the stiff body, wherein the functional mapping from each actuator's motor current to torque output along an axis of motion is stored, and used in concert with a calibrated model of the robot for effective impedance control; and a 6-axis force / torque sensor mounted inline between the actuators and each chopstick.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS[0001]This application claims priority under 35 U.S.C. 119(e) to U.S. Provisional Patent Application No. 62 / 882,395, filed Aug. 2, 2019, U.S. Provisional Patent Application No. 62 / 882,396, filed Aug. 2, 2019 and U.S. Provisional Patent Application No. 62 / 882,397, filed Aug. 2, 2019 the disclosures of which are hereby incorporated herein by reference in their entirety as if set forth in full.[0002]This application is also related to U.S. patent application Ser. No. unassigned, filed on Jul. 30, 2020, entitled SYSTEMS AND METHODS FOR ROBOTIC CONTROL UNDER CONTACT, and is also related to U.S. patent application Ser. No. unassigned, filed on Jul. 30, 2020, entitled ROBOTIC SYSTEM FOR PICKING AND PLACING OBJECTS FROM AND INTO A CONSTRAINED SPACE, all of which are incorporated herein by reference in their entirety as if set forth in full.BACKGROUND1. Technical Field[0003]The embodiments described herein are related to the physical design of a control...

AI Technical Summary

Benefits of technology

The patent describes a robotic arm design that uses simple kinematics of movement. It includes a chopstick with at least four degrees of freedom of movement and an electromagnetic actuator for each degree of movement. The arm also has a 6-axis force / torque sensor mounted inline between the actuators and each chopstick. By using this design, the arm can effectively control its movement and apply force in a precise manner.

Problems solved by technology

It is currently very hard to build automated machines for manipulating objects of various shapes, sizes, inertias, and materials.

They lift massive objects, move with blurring speed, and repeat complex performances with unerring precision.

Yet outside of these carefully controlled robot realms, even the most sophisticated robot would be unable to perform many tasks that involve contact with other objects.

As such, outside of controlled environments, robots have only performed sophisticated manipulation tasks when operated by a human.

Outside of controlled settings, however, robots have only performed sophisticated manipulation tasks when operated by a human.

Through teleoperation, even highly complex humanoid robots have performed a variety of challenging everyday manipulation tasks, such as grasping everyday objects, using a power drill, throwing away trash, and retrieving a drink from a refrigerator.

But accurate control of robots that autonomously, physically interact with various objects in their environments has proved elusive.

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