Monitoring a kinematically redundant robot
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United States of America Patent
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Aug 8, 2017
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Jun 19, 2014
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Jun 19, 2013
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Abstract
A method for monitoring a kinematically redundant robot includes detecting joint forces acting in the joints of the robot, determining an external work force between a robot-permanent reference point and an environment based on the detected joint forces, determining a further monitoring variable that is at least substantially independent of an external force acting on the robot-permanent reference point based on the detected joint forces, and monitoring the determined external work force and the determined further monitoring variable.
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