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System and method for robot operating environment discovery

  • US 9,751,213 B2
  • Filed: 05/18/2015
  • Issued: 09/05/2017
  • Est. Priority Date: 05/18/2015
  • Status: Active Grant
First Claim
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1. A method of determining at least one operating characteristic of 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.

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