Technical University of Munich

Stefan Lochbrunner

Eckehard Steinbach

Nicolas Alt

Dong Qiuwei

Clemens Schuwerk

A method for determining the joint positions of a kinematic chain uses only an imaging sensor and a computing unit. Characteristic features on the links and joints of the kinematic chain are identified and the joint positions are calculated from these visual measurements. The robot can be controlled without the use of joint encoders. A sensor system for monitoring the status of a kinematic chain includes a computing unit and an imaging sensor. The imaging sensor may be mounted to the kinematic chain or in the surroundings of the kinematic chain and monitors the kinematic chain and/or the surroundings of the kinematic chain. The computing unit determines a pose and/or movement parameters of at least one element of the kinematic chain by analyzing an output signal of the imaging sensor, in particular by analyzing characteristic features and determines a rotational joint position by analyzing the characteristic features.

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Munich, Germany

Stefan Lochbrunner