Robot controller for robot which sets two objects in combined state
US-2017008171-A1 · Jan 12, 2017 · US
Method for estimating a wrench
US11279027B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-11279027-B2 |
| Application number | US-202117169575-A |
| Country | US |
| Kind code | B2 |
| Filing date | Feb 8, 2021 |
| Priority date | Aug 9, 2018 |
| Publication date | Mar 22, 2022 |
| Grant date | Mar 22, 2022 |
How to read this patent
A practical reading order for non-experts. Skip the full description unless you need deep technical detail.
- Title
What the patent document calls the invention.
- Abstract
A short plain-language summary of the technical disclosure.
- Assignees and inventors
Who owns or filed the patent and who is credited as inventor.
- Key dates
Filing, priority, publication, and grant dates set the timeline.
- First independent claim
The legal scope of protection — read this for what is actually claimed.
- CPC / IPC classifications
Technology tags used to group this patent with similar filings.
- Citations and related patents
Prior art links and similar publications in this corpus.
Abstract
Official abstract text for this publication.
A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.
First claim
Opening claim text (preview).
What is claimed is: 1. A method for estimating a wrench acting on a reference point of a robot, comprising the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components, wherein step b) comprises a maximum-likelihood estimation of the non-measured components. 2. The method of claim 1 , wherein a number of measured components is 1. 3. The method of claim 1 , wherein the measured component is parallel to a surface normal of a surface of the robot which extends through the reference point or to a direction in which the reference point advances when processing a workpiece. 4. A method for estimating a wrench acting on a reference point of a robot, comprising the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components, wherein step b) comprises calculating a first estimate of the wrench based on the dynamical model alone, and refining the first estimate using a maximum-a-posteriori estimation. 5. The method of claim 4 , wherein a number of measured components is 1. 6. The method of claim 4 , wherein the measured component is parallel to a surface normal of a surface of the robot which extends through the reference point or to a direction in which the reference point advances when processing a workpiece. 7. A method for estimating a wrench acting on a reference point of a robot, comprising the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components, wherein the wrench is predicted by a Kalman filter and the at least one measured component is input as a state measurement into the Kalman filter. 8. The method of claim 7 , wherein a number of measured components is 1. 9. The method of claim 7 , wherein the measured component is parallel to a surface normal of a surface of the robot which extends through the reference point or to a direction in which the reference point advances when processing a workpiece. 10. A method for estimating a wrench acting on a reference point of a robot, comprising the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components, wherein among the measured components of the wrench there is at least one force component and/or among the non-measured components there is at least one torque component. 11. The method of claim 10 , wherein a number of measured components is 1. 12. The method of claim 10 , wherein the measured component is parallel to a surface normal of a surface of the robot which extends through the reference point or to a direction in which the reference point advances when processing a workpiece.
Assignees
Inventors
Classifications
Calculate driving torque from dynamic model, computed torque method variant · CPC title
Force control, force as reference, active compliance · CPC title
- B25J9/1633Primary
compliant, force, torque control, e.g. combined with position control · CPC title
Torque control using hardware designed for position control · CPC title
Force based impedance control · CPC title
Patent family
Related publications grouped by family.
External sources
Frequently asked questions
Answers are generated from the same data shown on this page.
- What does patent US11279027B2 cover?
- A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.
- Who is the assignee on this patent?
- Abb Schweiz Ag
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1633. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Mar 22 2022 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 1 related publication on this page (citations in our corpus or others sharing the same primary CPC).