Importance

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Abstract

A control mechanism of a robotic arm that is modular and applicable to a mobile robotic base with an arm is disclosed. The control of the tool actuators, the wrist actuators, and the actuators that manage the proximal arm actuators are executed hierarchically and in a manner that is minimally dependent on the end-effector itself. The robotic arm implements the modular mechanical coupling to a wrist module, which may include an active revolute wrist with two or three actuators that enable active control of the orientation of end-effectors such as a gripper designed to grasp objects, a gimbal that maintains level orientation of a camera, a hose, a spraying attachment, a screwdriver attachment, and a hammer attachment.

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First Claim