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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-2026079502-A1, on 19 March 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000001641

Dynamic stability of a robot manipulator

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
CERRUTI GIULIO, FARNIOLI EDOARDO, RADULESCU ANDREEA
Assignee
DYSON TECHNOLOGY LTD
Original source
US-2026079502-A1, the United States Patent and Trademark Office, 19 March 2026
Document SHA-256
ce9015d2c364f262158974ec0de9e0b03db9a97623bcf55ff55ef39f81a1a4fc

Abstract

A robot manipulator has a base with a connected arm by a shoulder joint, and a control system and force selector. Based on a target trajectory for a distal end of the arm instructions, a target motion and an effective force applied to the base that causes the base to execute the target motion is determined. An applied force on the robot manipulator results in a determination of a virtual ZMP force applied to the base that would either counteract an observed motion of a ZMP of the robot manipulator or act to move the ZMP back to within a predetermined support region, and/or an external force applied. Data defining the effective force and the virtual ZMP force and/or the external force applied to the base and determines a target force based on the data is received. The base executed a motion in response to the target force.

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Citation

OpenTechnical Publication OT-2026-000001641, “Dynamic stability of a robot manipulator,” published September 15, 2026 at 19:07:15 UTC, https://opentechnical.org/p/OT-2026-000001641.

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