System and method for failure detection of a robot actuator
US9205560B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 20, 2014 |
| Grant date | Dec 8, 2015 |
| Priority date | — |
| Expiry date | Jun 26, 2034 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/49
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Systems and methods for detecting actuator component or sensor failure using non-equivalent sensors are described. An example method includes actuating a robot actuator, and determining a first result and second result of the actuation using a first sensor and second sensor respectively. Additionally, the method includes determining a first estimate of an internal state of the robot actuator using the first result, and determining a second estimate of the internal state using the second result and a normalization function that normalizes the second result for comparison with the first estimate. Further, the method includes determining whether a difference between the first estimate of the internal state and the second estimate of the internal state satisfies an error threshold. And the method includes providing an output indicative of a potential fault of the robot actuator in response to determining that the difference does not satisfy the error threshold.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.