MX343791B - Método y sistema para la determinación de al menos una propiedad de una articulación. - Google Patents

Método y sistema para la determinación de al menos una propiedad de una articulación.

Info

Publication number
MX343791B
MX343791B MX2015005051A MX2015005051A MX343791B MX 343791 B MX343791 B MX 343791B MX 2015005051 A MX2015005051 A MX 2015005051A MX 2015005051 A MX2015005051 A MX 2015005051A MX 343791 B MX343791 B MX 343791B
Authority
MX
Mexico
Prior art keywords
joint
property
actuator
determining
output value
Prior art date
Application number
MX2015005051A
Other languages
English (en)
Other versions
MX2015005051A (es
Inventor
Nilsson Klas
Original Assignee
Cognibotics Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cognibotics Ab filed Critical Cognibotics Ab
Publication of MX2015005051A publication Critical patent/MX2015005051A/es
Publication of MX343791B publication Critical patent/MX343791B/es

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40381—Control trajectory in case of joint limit, clamping of joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41059—Play in gear, screw backlash, lost motion

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)

Abstract

La invención se refiere a un método para determinar al menos una propiedad de una articulación, tal como una articulación (112, 114, 116-119, 180) de un manipulador (180) donde dicha articulación está configurada para que al menos un actuador la impulse, estando el actuador configurado para impulsar dicha articulación (112, 114, 116-119, 180) mediante un tren de potencia. El método comprende: fijar (200) dicha articulación de modo que el movimiento de la articulación esté restringido y accionar (210) dicho tren de potencia mientras se monitoriza al menos una magnitud, asociada con un par de dicho actuador y al menos una magnitud asociada con la posición del actuador, con el fin de determinar (220) al menos un valor de salida de dicho actuador, correspondiendo dicho valor de salida a, al menos, una posición de la articulación, y determinar (230) la o las propiedades de la articulación en base al o los valores de salida mencionados. La invención además se refiere a un sistema para determinar la o las propiedades de una articulación.
MX2015005051A 2012-10-23 2013-10-21 Método y sistema para la determinación de al menos una propiedad de una articulación. MX343791B (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1251196A SE536708C2 (sv) 2012-10-23 2012-10-23 Metod och system för bestämning av minst en egenskap hos enmanipulator
PCT/SE2013/051224 WO2014065744A1 (en) 2012-10-23 2013-10-21 Method and system for determination of at least one property of a joint

Publications (2)

Publication Number Publication Date
MX2015005051A MX2015005051A (es) 2015-12-09
MX343791B true MX343791B (es) 2016-11-23

Family

ID=49641828

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2015005051A MX343791B (es) 2012-10-23 2013-10-21 Método y sistema para la determinación de al menos una propiedad de una articulación.

Country Status (18)

Country Link
US (1) US9645565B2 (es)
EP (1) EP2911832B1 (es)
JP (1) JP6238421B2 (es)
KR (1) KR102144142B1 (es)
CN (1) CN104736307B (es)
AU (1) AU2013335352B2 (es)
BR (1) BR112015008933B1 (es)
CA (1) CA2887038C (es)
DK (1) DK2911832T3 (es)
ES (1) ES2622304T3 (es)
HK (1) HK1211538A1 (es)
HU (1) HUE033139T2 (es)
IN (1) IN2015DN03959A (es)
MX (1) MX343791B (es)
PT (1) PT2911832T (es)
RU (1) RU2667938C2 (es)
SE (1) SE536708C2 (es)
WO (1) WO2014065744A1 (es)

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CN108716962A (zh) * 2018-05-10 2018-10-30 珞石（山东）智能科技有限公司 机器人末端力传感器零偏和负载参数同步标定方法
JP7194910B2 (ja) * 2018-07-02 2022-12-23 パナソニックＩｐマネジメント株式会社 ロボット制御方法及びロボット制御装置
US11353345B2 (en) * 2019-07-22 2022-06-07 Boston Dynamics, Inc. Magnetic encoder calibration
WO2021044297A1 (en) 2019-09-03 2021-03-11 Auris Health, Inc. Electromagnetic distortion detection and compensation
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KR102356660B1 (ko) * 2019-11-01 2022-02-07 주식회사 뉴로메카 다자유도 협동 로봇의 마찰 보상 방법
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Also Published As

Publication number Publication date
RU2015114788A3 (es) 2018-08-02
JP2015536249A (ja) 2015-12-21
KR20150086277A (ko) 2015-07-27
HK1211538A1 (en) 2016-05-27
SE536708C2 (sv) 2014-06-10
JP6238421B2 (ja) 2017-11-29
ES2622304T3 (es) 2017-07-06
WO2014065744A1 (en) 2014-05-01
AU2013335352A1 (en) 2015-04-16
CA2887038C (en) 2020-10-20
WO2014065744A4 (en) 2014-07-10
PT2911832T (pt) 2017-05-08
RU2015114788A (ru) 2016-12-20
BR112015008933B1 (pt) 2021-02-09
HUE033139T2 (en) 2017-11-28
EP2911832A1 (en) 2015-09-02
BR112015008933A2 (pt) 2017-07-04
CN104736307B (zh) 2017-03-08
SE1251196A1 (sv) 2014-04-24
US20150248121A1 (en) 2015-09-03
IN2015DN03959A (es) 2015-10-02
RU2667938C2 (ru) 2018-09-25
EP2911832B1 (en) 2017-02-08
DK2911832T3 (en) 2017-05-22
CA2887038A1 (en) 2014-05-01
MX2015005051A (es) 2015-12-09
CN104736307A (zh) 2015-06-24
US9645565B2 (en) 2017-05-09
KR102144142B1 (ko) 2020-08-12
AU2013335352B2 (en) 2016-12-22

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