Method for estimating a wrench

US11279027B2 · kind B2 · utility

Assignee

• ABB Schweiz AG · CH

Inventors

• Debora Clever · Zwingenberg, DE
• Fan Dai · Zwingenberg, DE
• Hao Ding · Macungie, US
• Tomas Groth · Västerås, SE
• Bjoern Matthias · Bad Schönborn, DE
• Arne Wahrburg · Darmstadt, DE

Key dates

• Filing date: Feb 8, 2021
• Grant date: Mar 22, 2022
• Expiry date: Feb 8, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/39343
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

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.