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AUTOMATED WORK PIECE CENTER OF MASS IDENTIFICATION SYSTEM AND METHOD FOR SAME

  • US 20160305842A1
  • Filed: 04/17/2015
  • Published: 10/20/2016
  • Est. Priority Date: 04/17/2015
  • Status: Active Grant
First Claim
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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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