Document Type
Article
Publication Date
September 2025
Patent Number
12415273
CPC
B25J 3/00 , B25J 9/023 , B25J 9/06 , B25J 9/1607 , B25J 9/1664 , B25J 9/1689 , G05B 2219/40182
Abstract
Disclosed is an intuitive robotic device control reference frame with hybrid inverse kinematics having a natural and easier human-robot interface. A system for controlling a robot can include a robotic device that performs tasks, an input device that receives user input indicating desired movement of the robotic device to perform the tasks, and a controller that controls the robotic device based on the user input. The controller can receive signals identifying the user input, determine a ground reference frame and an end-effector reference frame for controlling movement of the robotic device, generate, based on the ground reference frame and the end-effector reference frame, an intuitive reference frame for controlling movement of the robotic device, determine controls to move the robotic device in the intuitive reference frame, generate instructions for controlling movement of the robotic device, and execute the instructions to control movement of the robotic device.
Application Number
17/689534
Recommended Citation
Wu, Lei; Alqasemi, Redwan; and Dubey, Rajiv, "Control of robotic arms through hybrid inverse kinematics and intuitive reference frame" (2025). USF Patents. 1527.
https://digitalcommons.usf.edu/usf_patents/1527
Assignees
University of South Florida
Filing Date
03/08/2022
