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:
May. 27, 2025
Filed:
Jan. 22, 2020
Franka Emika Gmbh, Munich, DE;
Andreas Spenninger, Karlsfeld, DE;
Fangyi Streitel, Munich, DE;
Franka Emika GmbH, Munich, DE;
Abstract
A method of determining a weight and a center of gravity of a load for a robot manipulator, the method including: gripping the load using an end effector; moving the load into a number n of distinct static poses; determining an external wrench wrench Ffor each of the n static poses; determining, in a base coordinate system, at least components of each external wrench Fthat indicate the external forces; determining a particular estimation of the weight of the load from a particular component pointing in a direction of a gravity vector from among the components of each external wrench Fthat indicate the external forces in the base coordinate system, and from a magnitude of the gravity vector; determining the weight of the load by averaging respective estimations of the weight of the load; determining estimations of coordinates of the center of gravity of the load for each of the n static poses based on the weight of the load or the particular estimation of the weight of the load determined for a particular static pose and based on the components of the external wrench Fthat indicate externally acting torques; and determining the center of gravity of the load by averaging respective estimations of coordinates of the center of gravity.