主权项 |
1. A method for automatically identifying a work piece center of mass comprising:
coupling a work piece to a manipulator assembly, the manipulator assembly includes a force and torque sensor configured to measure force and torque transmitted from the work piece to the manipulator assembly; positioning the work piece in at least two different orientations relative to a gravity vector with the manipulator assembly, the at least two different orientations include at least first and second orientations, wherein
in the first orientation the force and torque sensor measures a first torque and at least a first force associated with the work piece in the first orientation, andin the second orientation the force and torque sensor measures a second torque associated with the work piece in the second orientation; and identifying the work piece center of mass according to at least the measured first and second torques and at least the first force. |