Apparatus and method detecting a robot slip
First Claim
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1. An apparatus, including one or more processing devices, for detecting a slip of a robot, the apparatus comprising:
- a pattern-movement command unit to generate, using the one or more processing devices, a pattern-movement command controlling the robot to perform consecutive motions including at least two of a uniform motion, a decelerating motion, and an accelerating motion; and
a slip detection unit to detect a slip of the robot operating according to the pattern-movement command by comparing a first acceleration measured by an acceleration sensor of the robot with a second acceleration measured by an encoder of the robot, the encoder measuring rotation of driving wheels of the robot,wherein, based upon a determination that a difference between the first acceleration and the second acceleration is equal to or greater than a first threshold value, the slip detection unit determines that a slip of the robot, operating according to the pattern-movement command, has occurred, wherein the first threshold is greater than zero.
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Abstract
Disclosed is an apparatus and method for detecting slip of a robot. The robot periodically repeats a pattern movement in the order of a uniform motion, a decelerating motion, and an accelerating motion, or in the order of a uniform motion, an accelerating motion, and a deceleration motion. The occurrence of slip of the robot performing a pattern movement is determined by comparing a first acceleration of the robot measured by an acceleration sensor and a second acceleration of the robot measured by an encoder.
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10 Claims
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1. An apparatus, including one or more processing devices, for detecting a slip of a robot, the apparatus comprising:
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a pattern-movement command unit to generate, using the one or more processing devices, a pattern-movement command controlling the robot to perform consecutive motions including at least two of a uniform motion, a decelerating motion, and an accelerating motion; and a slip detection unit to detect a slip of the robot operating according to the pattern-movement command by comparing a first acceleration measured by an acceleration sensor of the robot with a second acceleration measured by an encoder of the robot, the encoder measuring rotation of driving wheels of the robot, wherein, based upon a determination that a difference between the first acceleration and the second acceleration is equal to or greater than a first threshold value, the slip detection unit determines that a slip of the robot, operating according to the pattern-movement command, has occurred, wherein the first threshold is greater than zero. - View Dependent Claims (2, 3, 4, 5)
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6. A method of detecting a slip of a robot, the method comprising:
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generating, using one or more processing devices, a pattern-movement command controlling the robot to perform consecutive motions including at least two of a uniform motion, a decelerating motion, and an accelerating motion; measuring a first acceleration of the robot operating according to the pattern-movement command by use of an acceleration sensor; measuring a second acceleration of the robot operating according to the pattern-movement command by use of an encoder, the encoder measuring rotation driving wheels of the robot; and detecting the slip of the robot by comparing the first acceleration with the second acceleration, wherein the slip of the robot is detected based upon a determination that a difference between the first acceleration and the second acceleration is equal to or greater than a threshold value, the threshold being greater than zero. - View Dependent Claims (7, 8, 9, 10)
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Specification