US 11,697,209 B1
Coordinate mapping for motion control
Timothy J. Mourlam, Shawnee, KS (US); Jonathan Westin Sykes, Gower, MO (US); and Riley Gossling, Stanberry, MO (US)
Assigned to Altec Industries, Inc., Birmingham, AL (US)
Filed by Altec Industries, Inc., Birmingham, AL (US)
Filed on Jul. 28, 2022, as Appl. No. 17/875,893.
Int. Cl. B25J 9/16 (2006.01); B25J 13/02 (2006.01); B25J 13/06 (2006.01); B25J 13/08 (2006.01); B66F 11/04 (2006.01)
CPC B25J 9/1689 (2013.01) [B25J 9/1643 (2013.01); B25J 9/1676 (2013.01); B25J 13/025 (2013.01); B25J 13/065 (2013.01); B25J 13/088 (2013.01); B66F 11/046 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling motion of a remotely operated equipment communicatively coupled to at least one input device of an operator, the method comprising:
receiving predetermined parameters based on one or more dimensions of the remotely operated equipment including a length of one or more members of the remotely operated equipment;
receiving information indicative of a current position of the remotely operated equipment, the information comprising an angle of rotation of one or more joints of the remotely operated equipment;
receiving a control signal from the at least one input device, the control signal indicative of an updated target position requested by the operator;
determining a motion path for the remotely operated equipment by applying a closed-form inverse kinematics function based on the current position of the remotely operated equipment, the updated target position, and the predetermined parameters;
updating a control system of the remotely operated equipment with the motion path,
wherein the motion path comprises instructions for adjusting the angle of rotation of the one or more joints of the remotely operated equipment;
responsive to receiving a user input, temporarily preventing motion of the remotely operated equipment;
receiving an adjustment of a position of the at least one input device while the remotely operated equipment is locked in place; and
resuming motion of the remotely operated equipment responsive to a subsequent user input from the at least one input device requesting to resume motion of the remotely operated equipment.