US 12,440,979 B2
System and method for controlling an operation of a robotic arm
Devesh Jha, Cambridge, MA (US); Yuki Shirai, Los Angeles, CA (US); and Arvind Raghunathan, Medford, MA (US)
Assigned to Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed by Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed on Dec. 23, 2022, as Appl. No. 18/145,869.
Prior Publication US 2024/0208054 A1, Jun. 27, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1674 (2013.01); B25J 13/084 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control system for controlling an operation of a robotic arm holding a tool for manipulating an object, comprising: at least one processor;
and a memory having instructions stored thereon that cause the at least one processor of the control system to:
collect measurements of at least one tactile sensor associated with the robotic arm;
estimate, based on the collected measurements and constraints enforced by a Model Predictive Controller (MPC), a feedback signal indicative of a pose of the object;
execute the MPC configured to produce, based on the estimated pose of the object, control commands for actuators of the robotic arm by optimizing a cost function minimizing a deviation of the pose of the object from a target pose of the object, wherein the optimization of the cost function is subject to the constraints, and wherein the constraints constrain one or more forces acting on the object at one or more point of contacts to be within corresponding friction regions, wherein a shape of the friction region is based on a shape of the object; and
control the actuators of the robotic arm according to the control commands.