METHOD AND SYSTEM FOR CONTROLLING A TELEROBOTIC ROBOT

METHOD AND SYSTEM FOR CONTROLLING A TELEROBOTIC ROBOT

A method for controlling a telerobotic robot using an input device which has a movable actuator includes repeatedly: -commanding a target pose of a reference of the telerobotic robot, said reference being fixed to the robot, on the basis of a detected position of the actuator; and -commanding a targ...

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1. Verfasser: MUNOZ OSORIO, Juan David
Format: Patent
Sprache:eng ; fre ; ger
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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creator MUNOZ OSORIO, Juan David
description A method for controlling a telerobotic robot using an input device which has a movable actuator includes repeatedly: -commanding a target pose of a reference of the telerobotic robot, said reference being fixed to the robot, on the basis of a detected position of the actuator; and -commanding a target force of the actuator; wherein a contact operating mode is carried out if a contact is ascertained between the reference fixed to the robot and an obstacle in a contact direction, and a non-contact operating mode is carried out after said contact is no longer ascertained and/or before said contact is ascertained. In the contact operating mode, the target force has a contact force component of a virtual spring, said contact force component simulating a contact between the reference fixed to the robot and an obstacle, and the contact force component is omitted in the non-contact operating mode.
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subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title METHOD AND SYSTEM FOR CONTROLLING A TELEROBOTIC ROBOT
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