Brett J Pipitone

US Patent:

20170182660, Jun 29, 2017

Filed:

Nov 10, 2016

Appl. No.:

15/348709

Inventors:

- Cincinnati OH, US
Brett J. Pipitone - Cincinnati OH, US

Assignee:

Robomotive Laboratories LLC - Cincinnati OH

International Classification:

B25J 9/16
B25J 13/08

Abstract:

The inventive technology eliminates the need for force sensors on a robotic manipulator while also improving feel by incorporating force sensors on the corresponding robotic input device. Position of the manipulator is used to determine positioning of the input device; therefore, rather than manipulator position lagging the input device position (as in conventional robotic systems), the opposite is true, so that input device position lags manipulator position. Through a combination of input device force control and manipulator position feedback, a sense of feel is achieved through use of an “effort sensor” mounted at a “control point” on the input device and use of a “position feedback force control” scheme.