AUTOMATED WORK PIECE CENTER OF MASS IDENTIFICATION SYSTEM AND METHOD FOR SAME
First Claim
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, whereinin 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.
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Accused Products
Abstract
A method and system for identifying a work piece center of mass includes coupling a work piece to a manipulator assembly. The manipulator assembly includes a force and torque sensor. The work piece is positioned 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. 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. In the second orientation the force and torque sensor measures a second torque associated with the work piece in the second orientation. The work piece center of mass is identified according to at least the measured first and second torques and at least the first force.
13 Citations
27 Claims
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1. A method for automatically identifying a work piece center of mass comprising:
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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, and in 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system configured for manipulation of a work piece and determination of a work piece center of mass comprising:
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a manipulator assembly, the manipulator assembly including a work piece interface configured to grasp and hold a work piece while the manipulator assembly moves the work piece into at least two different orientations; a force and torque sensor coupled with the manipulator assembly, the force and torque sensor configured to measure force and torque transmitted from the work piece to the manipulator assembly; and a center of mass determination module in communication with the manipulator assembly and the force and torque sensor, the center of mass determination module includes; a manipulation element, the manipulation module configured to move the manipulator assembly and the work piece into the at least two different orientations relative to a gravity vector, a force and torque measurement element configured to measure the force and torque of the work piece at each of the at least two different orientations with the force and torque sensors, and an identification element in communication with the force and torque measurement module, the identification module configured to identify the work piece center of mass according to force and torque measurements conducted with the work piece at the at least two different orientations. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. An effector assembly to identify a work piece center of mass, effector assembly comprising:
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a manipulator interface configured to couple with a manipulator arm, the manipulator interface includes; a mechanical latch configured to interfit with the manipulator arm, and a data and power link; a work piece interface coupled with the manipulator interface, the work piece interface includes a second mechanical latch configured to interfit with the work piece and statically couple the work piece to the work piece interface; and a force and torque sensor between the manipulator interface and the work piece interface, the force and torque sensor configured to measure force and torque between the manipulator and work piece interfaces. - View Dependent Claims (22, 23, 24, 25, 26, 27)
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Specification