Control system for jointed mechanical devices

Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In t...

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Bibliographische Detailangaben
Hauptverfasser:	DALLEY SKYLER ASHTON, GOLDFARB MICHAEL, WISTE TUOMAS EMORY, VAROL HUSEYIN ATAKAN
Format:	Patent
Sprache:	eng
Schlagworte:	BANDAGES, DRESSINGS OR ABSORBENT PADS CHAMBERS PROVIDED WITH MANIPULATION DEVICES DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF,TUBULAR STRUCTURES OF THE BODY, E.G. STENTS FILTERS IMPLANTABLE INTO BLOOD VESSELS FIRST-AID KITS FOMENTATION HAND TOOLS HUMAN NECESSITIES HYGIENE MANIPULATORS MEDICAL OR VETERINARY SCIENCE ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS PROSTHESES TRANSPORTING TREATMENT OR PROTECTION OF EYES OR EARS
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Beschreibung
Zusammenfassung:	Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.