METHOD AND SYSTEM FOR DETERMINATION OF AT LEAST ONE PROPERTY OF A MANIPULATOR
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Accused Products
Abstract
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.
47 Citations
43 Claims
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1-21. -21:
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22. A method for determining at least one compliance property associated with a selected axis of a manipulator (2), wherein said manipulator (2) is configured to be controlled by a controller (19), and comprises at least one axis comprising a joint and a linkage connected to said joint, wherein the joint is configured to be actuated via a drive train by torque from an actuator, the method comprising:
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(a) clamping a movable part of the manipulator (2) to a point in space by controlling the manipulator (2) such that the manipulator (2) attains a clamped kinematic configuration; (b) selecting an identification joint set comprising at least one joint of the manipulator (2), wherein the at least one joint of the identification joint set is configured to control and monitor said selected axis whose associated at least one compliance property is to be determined; (c) selecting an excitation joint set comprising at least one joint of the manipulator (2) which for the clamped kinematic configuration of the manipulator (2) is configured to excite at least one link of the selected axis connected to the at least one joint of the identification joint set; (d) selecting a clamping configuration joint set of the manipulator (2), wherein the at least one joint of the clamping configuration joint set is not part of the identification joint set and the excitation joint set; (e) actuating said excitation joint set, such that said selected axis is excited while controlling the clamping configuration joint set such that the clamped kinematic configuration is maintained; (f) monitoring one or more quantities related to joint torque and joint position obtained from actuator torque and actuator position for at least one joint in the identification joint set and/or excitation joint set; and (g) determining the at least one compliance property of said selected axis based on the one or more quantities monitored. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 42, 43)
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41. A system (1) for determining at least one compliance property associated with a selected axis of a manipulator (2), the system (1) comprising:
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a manipulator (2) with at least one axis comprising a joint and a linkage connected to said joint; at least one actuator configured to actuate the joint via a drive train by means of actuator torque; and a controller configured to control the manipulator (2), wherein the controller (19) comprises a control unit (20) and a computer readable storage unit (21) comprising instructions configured to; (a) make the control unit (20) clamp a movable part of the manipulator (2) to a point in space by controlling the manipulator (2) such that the manipulator (2) attains a clamped kinematic configuration; (b) select an identification joint set comprising at least one joint of the manipulator (2), wherein the at least one joint of the identification joint set is configured to control and monitor said selected axis whose associated at least one compliance property is to be determined; (c) select an excitation joint set comprising at least one joint of the manipulator (2) which for the clamped kinematic configuration of the manipulator (2) is configured to excite at least one link of the selected axis connected to the at least one joint of the identification joint set; (d) select a clamping configuration joint set of the manipulator (2), wherein the at least one joint of the clamping configuration joint set is not part of the identification joint set and the excitation joint set; (e) actuate said excitation joint set, such that said selected axis is excited while controlling the clamping configuration joint set such that the clamped kinematic configuration is maintained; (f) monitor one or more quantities related to joint torque and joint position obtained from actuator torque and actuator position for at least one joint in the identification joint set and/or in the excitation joint set; (g) determine the at least one compliance property of said selected axis based on the one or more quantities monitored; and (h) generate a property signal indicating said at least one compliance property.
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Specification