Method and system for determination of at least one property of a manipulator

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United States of America Patent

PATENT NO 9908238
SERIAL NO

14913966

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Abstract

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A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.

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Patent Owner(s)

Patent OwnerAddress
COGNIBOTICS ABIDEON SCIENCE PARK SCHEELEVAGEN 15 LUND S-223 70

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Haage, Mathias Lund, SE 2 91
Nilsson, Adam Lund, SE 10 61
Nilsson, Klas Lund, SE 14 114
Olofsson, Bjorn Lund, SE 4 58
Robertsson, Anders Lund, SE 1 37
Sornmo, Olof Lund, SE 2 57

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