公开(公告)号：US20190152056A1

公开(公告)日：2019-05-23

申请号：US16256642

申请日：2019-01-24

Applicant: Cambridge Medical Robotics Limited

Inventor： Edward John Mottram ,  Gordon Thomas Deane ,  Edward Tucker ,  Graham Veitch ,  Paul Christopher Roberts

IPC: B25J9/16 ,  B25J13/08

Abstract: A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.

公开(公告)号：US20170274530A1

公开(公告)日：2017-09-28

申请号：US15466984

申请日：2017-03-23

Applicant: Cambridge Medical Robotics Limited

Inventor： Edward John Mottram ,  Gordon Thomas Deane ,  Edward Tucker ,  Graham Veitch ,  Paul Christopher Roberts

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1638 ,  B25J9/1628 ,  B25J9/1633 ,  B25J13/085 ,  G05B2219/37357 ,  G05B2219/39188 ,  G05B2219/39338 ,  G05B2219/39342 ,  G05B2219/39343 ,  G05B2219/39346 ,  G05B2219/39347 ,  G05B2219/39348 ,  G05B2219/39351 ,  G05B2219/42016

Abstract: A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.