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. 05, 2023
Filed:
Jan. 14, 2019
Technische Universität München, Munich, DE;
Nicolas Alt, Munich, DE;
Clemens Schuwerk, Munich, DE;
Eckehard Steinbach, Olching, DE;
Stefan Lochbrunner, Munich, DE;
Dong Qiuwei, Beijing, CN;
Technische Universität München, Munich, DE;
Abstract
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.