Operating a hand-guided robot
US11148285B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Aug 17, 2018 |
| Grant date | Oct 19, 2021 |
| Priority date | — |
| Expiry date | Oct 3, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39325
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for operating a hand-guided robot having a jointed arm and an end effector is provided. As part of the method, a moment is measured at each joint while the robot is being hand-guided or subjected to a mechanical tension due to contact with an external object. Based on the measured moment, an external moment affecting the robot is determined. Then, a correction factor for a position of the end effector is computed based on the external moment and an absolute accurate model of the robot. Then, a current position of the end effector is computed based on a correction model in dependence on the correction factor. A corresponding storage medium, data processing device, robotic system, and tracking system are also provided.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.