Methods and systems for detecting transport abnormality
Number of patents in Portfolio can not be more than 2000
United States of America
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Apr 1, 2025
Grant Date -
May 5, 2022
app pub date -
Jan 12, 2022
filing date -
Jan 12, 2022
priority date (Note) -
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Abstract
A control apparatus includes a force sensation information acquiring unit for acquiring force sensation information representing a magnitude of at least one of a force and a torque at a distal end of a manipulator while a target item is being transported; a mass information acquiring unit for acquiring mass information representing a mass of the item; a plan information acquiring unit for acquiring plan information representing content of a plan of a trajectory; a force sensation estimating unit for estimating a magnitude of at least one of a force and a torque to be detected at the distal end of the manipulator; and a first detecting unit for detecting an abnormality, based on the magnitude of at least one of the force and the torque represented by the force sensation information and the magnitude of at least one of the force and the torque estimated by the estimating unit.
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