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:
Feb. 28, 2017
Filed:
Nov. 16, 2005
Applicants:
Gerhard Hietmann, Herbertshofen, DE;
Martin Weiss, Margertshausen, DE;
Inventors:
Gerhard Hietmann, Herbertshofen, DE;
Martin Weiss, Margertshausen, DE;
Assignee:
KUKA Roboter GmbH, Augsburg, DE;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G06F 17/00 (2006.01); B25J 9/16 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1641 (2013.01); G05B 2219/37429 (2013.01); G05B 2219/39181 (2013.01); G05B 2219/41127 (2013.01); G05B 2219/41154 (2013.01);
Abstract
Methods and apparatus for adjusting and controlling a robotic manipulator based on a dynamic manipulator model. A model for gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and accelerations, and on a motor temperature on the drive side of one of the motors that is associated with the axis. The model is used to determine target values, such as motor position or current. The gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.