The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 07, 2021
Filed:
Mar. 27, 2017
Cognibotics Ab, Lund, SE;
Klas Nilsson, Lund, SE;
Adam Nilsson, Lund, SE;
Andreas Stolt, Lund, SE;
Olof Sornmo, Lund, SE;
Martin Holmstrand, Lund, SE;
Niklas Nilsson, Lund, SE;
COGNIBOTICS AB, Lund, SE;
Abstract
A method and system for determining geometric properties of a manipulator (). The manipulator () is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non-geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.