| 发明名称 |
SYSTEM AND METHOD FOR ROBOT OPERATING ENVIRONMENT DISCOVERY |
| 摘要 |
A method of accommodating a payload and determining a working environment in a robotic system is disclosed. The method is directed to using a motor current measurement taken at the axis motors of a robotic system to calculate various parameters including payload balance, mass, moment of inertia, friction force and traction force. This measurement is based on the known relationship between motor current and motor torque. |
| 申请公布号 |
US2016339585(A1) |
申请公布日期 |
2016.11.24 |
| 申请号 |
US201514714489 |
申请日期 |
2015.05.18 |
| 申请人 |
ROSS VIDEO LIMITED |
发明人 |
WEBSTER Neil |
| 分类号 |
B25J9/16;B25J15/00;B25J19/02;B25J5/02;B25J11/00;B25J9/12 |
主分类号 |
B25J9/16 |
| 代理机构 |
|
代理人 |
|
| 主权项 |
1. A method of characterizing a robotic system, wherein the robotic system comprises a motor for driving motion of a payload about an axis of rotation, the method comprising:
determining a location of a center of mass of the payload by: controlling the motor to hold the payload static in at least three angular positions, and for each position determining a respective torque applied by the motor to hold the payload static; and determining a residual center of mass offset angle and a distance of the center of mass from the axis of rotation based on the determined torques. |
| 地址 |
Iroquois CA |
