Brent Andrew BAILEY,Trevor James DELL,Bart VERZIJLENBERG,Adam PHILIP,Sean DOWLING
申请号：
US16115025
公开号：
US20200030991A1
申请日:
2018.08.28
申请国别(地区):
US
年份:
2020
代理人:
摘要：
An automated positioning system and methods of controlling the same. The positioning system includes a multi-joint positioning arm, an end effector coupled to a distal end of the positioning arm, a force-moment sensor (FMS) coupled to the end effector and a controller coupled to communicate with the positioning arm and the FMS. Using signals from the FMS, at least one external force or torque applied to the end effector is determined. A drive velocity for moving the end effector is determined, based on the at least one external force or torque. One or more joint movements of the positioning arm for moving the end effector is calculated, according to the drive velocity. The positioning arm is moved according to the one or more calculated joint movements.
