Absolute position determination of a robotic device and robotic device

US10800041B2 · kind B2 · utility

Assignee

• Siemens Healthcare Limited · DE

Inventor

• Holger Mönnich · Friedberg, DE

Key dates

• Filing date: Aug 13, 2018
• Grant date: Oct 13, 2020
• Expiry date: Apr 2, 2039

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/39326
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method is provided for absolute position determination of the end effector of a robotic device with a kinematic chain of movable components. At least one current torque or one value corresponding to the torque is measured on at least one movable component of the kinematic chain of the robotic device by a torque sensor arranged on the movable component. At least one torque is calculated on the basis of model data of the robotic device for the movable component. A difference between the measured torque and the calculated torque is determined. If the difference exceeds a prespecified threshold value, the at least one measured torque is used instead of the calculated torque to determine an absolute position of the end effector of the robotic device.