Patent ID: 9381643
Filing Date: 2016-07-05
CPC Classification: A61B,B25J,G05B

Claim Text:
1. A robotic system comprising: an end-effector; and a control system in communication with the end-effector, including: wherein the control system employs a predetermined set of differential equations to generate a motion trajectory of the end-effector in real time that approximates the demonstrated reference path, and wherein the control system is programmed to adapt or modify a movement of the end-effector in real time via the velocity control module in response to perturbations of movement of the end-effector, and wherein the DSM includes a path transformation module programmed to transform a frame of reference of the flow vector field, and also includes a path blending module that incorporates a tunable linear interpolation term into the differential equations so as to blend together a path of the end-effector drawn forward from a start position with a path drawn backward from a goal position.