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. 09, 2017
Filed:
Oct. 21, 2013
Cognibotics Ab, Lund, SE;
Klas Nilsson, Lund, SE;
COGNIBOTICS AB, Lund, SE;
Abstract
The invention relates to a method for determining at least one property of a joint, such as a joint (-) of a manipulator (), wherein said joint is configured to be driven by at least one actuator, the actuator being configured to drive said joint (-) via a drivetrain. The method comprises: clamping () said joint such that motion of the joint becomes constrained, and actuating () said drivetrain while monitoring at least one quantity associated with a torque of said actuator and at least one quantity associated with the actuator position in order to determine () at least one output value of said actuator, said output value corresponding to at least one joint position and determining () the at least one property of the joint based on said at least one output value. The invention further relates to a system for determining the at least one property of a joint.