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Patent attributes
Current Assignee
Patent Jurisdiction
Patent Number
Date of Patent
December 29, 2015
0Patent Application Number
140293430
Date Filed
September 17, 2013
0Patent Citations Received
Patent Primary Examiner
Patent abstract
Redundant robotic manipulators may be constrained in their motions during operation in a gravity-compensated mode by applying, in addition to gravity-compensating torques, constraining torques to one or more of the joints. The constraining torques may urge the manipulator to a specified canonical posture, and may be modeled by virtual springs attached to the constrained joints.
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