US 11,745,331 B2
Teleoperated robotic system with payload stabilization
Fraser M. Smith, Salt Lake City, UT (US); and Marc X. Olivier, Salt Lake City, UT (US)
Assigned to Sarcos, LC, Salt Lake City, UT (US)
Filed by Sarcos, LC, Salt Lake City, UT (US)
Filed on Aug. 31, 2022, as Appl. No. 17/900,708.
Application 17/900,708 is a continuation of application No. 16/932,666, filed on Jul. 17, 2020.
Application 16/932,666 is a continuation of application No. 15/786,472, filed on Oct. 17, 2017, abandoned.
Application 15/786,472 is a continuation of application No. 13/332,165, filed on Dec. 20, 2011, granted, now 9,789,603, issued on Oct. 17, 2017.
Claims priority of provisional application 61/481,099, filed on Apr. 29, 2011.
Claims priority of provisional application 61/481,103, filed on Apr. 29, 2011.
Claims priority of provisional application 61/481,095, filed on Apr. 29, 2011.
Claims priority of provisional application 61/481,110, filed on Apr. 29, 2011.
Claims priority of provisional application 61/481,089, filed on Apr. 29, 2011.
Claims priority of provisional application 61/481,091, filed on Apr. 29, 2011.
Prior Publication US 2022/0410366 A1, Dec. 29, 2022
Int. Cl. B25J 3/04 (2006.01); B25J 5/00 (2006.01); B25J 9/16 (2006.01); B25J 13/02 (2006.01)
CPC B25J 3/04 (2013.01) [B25J 5/005 (2013.01); B25J 9/1633 (2013.01); B25J 13/025 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A teleoperated robotic system comprising:
a first slave arm comprising at least two support members coupled together about one or more joints and one or more actuators configured to actuate the one or more joints of the first slave arm;
a first end effector disposed at the end of the first slave arm; and
a first load sensor associated with the first end effector that measures a load applied by a payload on the first end effector and that facilitates generation of load data associated with the payload;
a general degree of freedom controller configured to control operation of the first slave arm about one or more degrees of freedom; and
a payload stabilization function, configured to facilitate actuated movement of the first slave arm to stabilize the payload based on the load data received in response to the load measured by the first load sensor as applied by the payload.