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IN2015DN03959A - - Google Patents

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Publication number
IN2015DN03959A
IN2015DN03959A IN3959DEN2015A IN2015DN03959A IN 2015DN03959 A IN2015DN03959 A IN 2015DN03959A IN 3959DEN2015 A IN3959DEN2015 A IN 3959DEN2015A IN 2015DN03959 A IN2015DN03959 A IN 2015DN03959A
Authority
IN
India
Application number
Other languages
English (en)
Inventor
Klas Nilsson
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 IN2015DN03959A publication Critical patent/IN2015DN03959A/en

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—Measuring 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 or 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)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
IN3959DEN2015 2012-10-23 2015-05-08 IN2015DN03959A (fr)

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 (fr) 2012-10-23 2013-10-21 Procédé et système pour la détermination d'au moins une caractéristique d'un joint

Publications (1)

Publication Number Publication Date
IN2015DN03959A true IN2015DN03959A (fr) 2015-10-02

Family

ID=49641828

Family Applications (1)

Application Number Title Priority Date Filing Date
IN3959DEN2015 IN2015DN03959A (fr) 2012-10-23 2015-05-08

Country Status (17)

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

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US10449676B2 (en) * 2015-03-23 2019-10-22 National Research Council Of Canada Multi-jointed robot deviation under load determination
GB201603283D0 (en) * 2016-02-25 2016-04-13 Johnson Electric Sa Method of reducing noise from a HVAC system
CN109196429B (zh) * 2016-03-29 2021-10-15 康格尼博提克斯股份公司 用于确定操纵器的几何特性的方法、约束装置和系统
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DE102017211549A1 (de) * 2017-07-06 2019-01-10 Kuka Deutschland Gmbh Verfahren zur Verschleißüberwachung eines Getriebes
EP3678576A4 (fr) * 2017-09-05 2021-05-12 Covidien LP Bras de commande de système chirurgical robotisé comprenant des codeurs doubles
US10464209B2 (en) 2017-10-05 2019-11-05 Auris Health, Inc. Robotic system with indication of boundary for robotic arm
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
JP6984348B2 (ja) * 2017-11-27 2021-12-17 トヨタ自動車株式会社 剛性検出装置
CN111434075A (zh) * 2017-12-06 2020-07-17 日本电产株式会社 设备id设定装置以及设定方法
CN108015750A (zh) * 2018-01-15 2018-05-11 上海联影医疗科技有限公司 医用机械臂
WO2019171516A1 (fr) * 2018-03-07 2019-09-12 株式会社Ｆｕｊｉ Système d'identification de paramètre inertiel d'un robot articulé verticalement, procédé d'identification de paramètre inertiel, et dispositif et procédé de commande pour robot articulé verticalement
CN108381542B (zh) * 2018-04-04 2024-05-28 中国科学院自动化研究所 基于混合传动的水下机械臂
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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
EP3890640B1 (fr) * 2018-12-06 2025-07-30 Covidien LP Contrôleur pour effecteurs terminaux entraînés par câble
US11353345B2 (en) 2019-07-22 2022-06-07 Boston Dynamics, Inc. Magnetic encoder calibration
US11324558B2 (en) 2019-09-03 2022-05-10 Auris Health, Inc. Electromagnetic distortion detection and compensation
GB2588629B (en) * 2019-10-29 2024-01-03 Cmr Surgical Ltd Robotic joint control
KR102356660B1 (ko) * 2019-11-01 2022-02-07 주식회사 뉴로메카 다자유도 협동 로봇의 마찰 보상 방법
US11772260B2 (en) * 2019-11-22 2023-10-03 Samsung Electronics Co., Ltd. Planetary gear transmission device and robot having the same
CN110928180B (zh) * 2019-12-04 2023-03-28 中国直升机设计研究所 一种作动器的迟滞补偿方法和装置
DE102020205379A1 (de) * 2020-04-28 2021-10-28 Kuka Deutschland Gmbh Verfahren zum Erfassen und Auswerten eines Reibungszustands an einem Gelenk, Roboterarm und Computerprogrammprodukt
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US11826910B2 (en) * 2021-05-20 2023-11-28 Carnegie Mellon University Direct drive end-effectors with parallel kinematics
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Also Published As

Publication number Publication date
AU2013335352B2 (en) 2016-12-22
EP2911832B1 (fr) 2017-02-08
SE1251196A1 (sv) 2014-04-24
RU2015114788A (ru) 2016-12-20
EP2911832A1 (fr) 2015-09-02
CN104736307B (zh) 2017-03-08
DK2911832T3 (en) 2017-05-22
CA2887038C (fr) 2020-10-20
SE536708C2 (sv) 2014-06-10
HUE033139T2 (en) 2017-11-28
MX2015005051A (es) 2015-12-09
US9645565B2 (en) 2017-05-09
AU2013335352A1 (en) 2015-04-16
RU2667938C2 (ru) 2018-09-25
BR112015008933A2 (pt) 2017-07-04
CA2887038A1 (fr) 2014-05-01
WO2014065744A1 (fr) 2014-05-01
US20150248121A1 (en) 2015-09-03
JP2015536249A (ja) 2015-12-21
ES2622304T3 (es) 2017-07-06
MX343791B (es) 2016-11-23
BR112015008933B1 (pt) 2021-02-09
HK1211538A1 (en) 2016-05-27
KR102144142B1 (ko) 2020-08-12
PT2911832T (pt) 2017-05-08
JP6238421B2 (ja) 2017-11-29
WO2014065744A4 (fr) 2014-07-10
RU2015114788A3 (fr) 2018-08-02
CN104736307A (zh) 2015-06-24
KR20150086277A (ko) 2015-07-27

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