Method of inferring intentions of an operator to move a robotic system

摘要

A method of inferring intentions of an operator to move a robotic system includes monitoring the intention of the operator, with a controller. The intention of the operator is inferred to be one of a desired acceleration and a desired deceleration. The intention of the operator is also as a desired velocity. Admittance parameters are modified as a function of at least one of the inferred acceleration, deceleration, and velocity.

主权项

1. A method of inferring intentions of an operator to move a robotic system, the method comprising:
monitoring the intentions of the operator, with a controller, with respect to the robotic system, wherein the controller has an algorithm configured for inferring the intentions of the operator and processing the inferred intentions; inferring the intentions of the operator to be at least one of a desired acceleration, a desired deceleration and a desired velocity; modifying values of a virtual mass and a virtual damping of the robotic system, within the controller, as a function of at least one of the inferred acceleration, deceleration, and velocity such that the values of the virtual mass and the virtual damping decrease when the intention of acceleration is inferred and the values of the virtual mass and the virtual damping are increased when the intention of deceleration is inferred; and determining a desired speed of the robotic system, as a function of the modified values of the virtual mass and virtual damping.