REAL-TIME ROBOTIC END EFFECTOR CONTROL
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United States of America Patent
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Issued Date -
May 2, 2024
app pub date -
Nov 2, 2022
filing date -
Nov 2, 2022
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Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot in accordance with a real-time robotics control framework. One of the methods includes: receiving a definition of a custom real-time control function; and repeatedly executing the custom real-time control function at each predetermined tick of a real-time robotics system driving the robot, including: obtaining sensor measurements, computing a new position for an end effector of the robot based on the sensor measurements in order to satisfy a distance range specified by the custom real-time control function, computing new robot control signals to cause the robot to move the end effector to the new position, and providing the new robot control signals to the robot.
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