System zur Verwaltung mehrerer Nullraumziele und Sli-Verhaltensweisen

Details

Veröffentlichungs-Nr.

EP4741960

Anmeldetag

18. März 2014

Veröffentlichung

13. Mai 2026

Rechtsraum

EP

IPC

G05B19/416

Abstract

Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.

Anmelder

Firma

Intuitive Surgical Operations, Inc.

Land

🇺🇸 USA