公开(公告)号：US09908238B2

公开(公告)日：2018-03-06

申请号：US14913966

申请日：2014-08-25

申请人： COGNIBOTICS AB

发明人： Klas Nilsson ,  Adam Nilsson ,  Mathias Haage ,  Bjorn Olofsson ,  Anders Robertsson ,  Olof Sornmo

IPC分类号： B25J9/16

CPC分类号： B25J9/1653 ,  G05B2219/39183 ,  G05B2219/39186 ,  G05B2219/40527

摘要： A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.

公开(公告)号：US20160221189A1

公开(公告)日：2016-08-04

申请号：US14913966

申请日：2014-08-25

申请人： COGNIBOTICS AB

发明人： Klas Nilsson ,  Adam Nilsson ,  Mathias Haage ,  Bjorn Olofsson ,  Anders Robertsson ,  Olof Sornmo

IPC分类号： B25J9/16

CPC分类号： B25J9/1653 ,  G05B2219/39183 ,  G05B2219/39186 ,  G05B2219/40527

摘要： A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.

摘要翻译： 一种用于确定与操纵器（2）的选定轴相关联的至少一个属性的方法和系统。 可以对操纵器（2）的连杆（4,6,9,10,13,14）和接头（3,5,7,8,11,12）的弹性进行建模，并且可以确定所得到的柔顺性。 使用某种方法来控制操纵器（2），使得可以针对操纵器（2）的某些运动结构确定与致动器扭矩和/或关节位置相关的某些量。 根据操纵器（2）的复杂性和感兴趣的属性的数量，操纵器（2）被控制为多个不同的运动学配置，其中确定数量的配置。 此后，可以确定用于机械手（2）的每个部件的刚度矩阵（K），并且可以确定用于总操作器（2）的全局刚度矩阵（MSM），以便确定所选择的 轴。