BACKUP TRACKING FOR AN INTERACTION SYSTEM
BACKUP TRACKING FOR AN INTERACTION SYSTEM
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A system for performing interactions within a physical environment including: a robot base that undergoes movement relative to the environment; a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a first tracking system that measures a robot base position; a second tracking system that measures movement of the robot base; and, a control system that uses a robot base position to at least partially control the robot arm to move the end effector along an end effector path, wherein the control system: determines the robot base position at least in part using signals from the first tracking system; and, in the event of failure of the first tracking system: determines a robot base position using signals from the second tracking system; and, controls the robot arm to move the end effector along the end effector path at a reduced end effector speed.
一种用于在物理环境内执行交互的系统，该系统包括：机器人底座，其相对于环境进行移动；机器人臂，其安装到机器人底座，该机器人臂包括安装在其上的末端执行器；第一跟踪系统，其测量机器人底座定位；第二跟踪系统，其测量机器人底座的移动；以及，控制系统，其使用机器人底座定位来至少部分地控制机器人臂以沿着末端执行器路径移动末端执行器，其中控制系统：至少部分地使用来自第一跟踪系统的信号来确定机器人底座定位；并且，在第一跟踪系统发生故障的情况下：使用来自第二跟踪系统的信号确定机器人底座定位；并且，控制机器人臂以降低的末端执行器速率沿着末端执行器路径移动末端执行器。
Document information
BACKUP TRACKING FOR AN INTERACTION SYSTEM
交互系统的备份跟踪
2021-04-23
Patent
Electronic Resource
Chinese
| IPC: | B25J Manipulatoren , MANIPULATORS / B66C Krane , CRANES / E04G SCAFFOLDING , Baugerüste / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |