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:
Mar. 22, 2022
Filed:
Feb. 08, 2021
Applicant:
Abb Schweiz Ag, Baden, CH;
Inventors:
Debora Clever, Zwingenberg, DE;
Fan Dai, Zwingenberg, DE;
Hao Ding, Heidelberg, DE;
Tomas Groth, Vaesteras, SE;
Bjoern Matthias, Bad Schoenborn, DE;
Arne Wahrburg, Darmstadt, DE;
Assignee:
ABB Schweiz AG, Baden, CH;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/16 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1633 (2013.01); B25J 9/1653 (2013.01); G05B 2219/39261 (2013.01); G05B 2219/39264 (2013.01); G05B 2219/39319 (2013.01);
Abstract
A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.