Apparatus and method detecting a robot slip
US8634959B2 · kind B2 · utility
3Cited by
4References
10Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Apr 21, 2010 |
| Grant date | Jan 21, 2014 |
| Priority date | — |
| Expiry date | Sep 9, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0253
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Disclosed is an apparatus and method for detecting slip of a robot. The robot periodically repeats a pattern movement in the order of a uniform motion, a decelerating motion, and an accelerating motion, or in the order of a uniform motion, an accelerating motion, and a deceleration motion. The occurrence of slip of the robot performing a pattern movement is determined by comparing a first acceleration of the robot measured by an acceleration sensor and a second acceleration of the robot measured by an encoder.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.