Contact force limiting with haptic feedback for a tele-operated robot
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United States of America Patent
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Dec 26, 2017
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N/A
app pub date -
Feb 5, 2016
filing date -
Feb 6, 2015
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Abstract
One exemplary embodiment is a system comprising an operator input device structured to move in response to operator-applied force and to selectably output feedback force to the operator. A first computing system is structured to receive input from the operator input device and provide an output. A second computing system is structured to receive the output and provide a robot control command subject to a force constraint. An industrial robot system is in operative communication with the second computing system and comprises a robotic arm structured to move in response to the command. The second computing system is structured process the output to impose a force constraint using a dual threshold hysteresis control. The first computing system is structured to apply a feedback force to the operator input device correlated to force associated with the industrial robot system.
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