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. 06, 2018
Filed:
Aug. 25, 2014
Cognibotics Ab, Lund, SE;
Klas Nilsson, Lund, SE;
Adam Nilsson, Lund, SE;
Mathias Haage, Lund, SE;
Bjorn Olofsson, Lund, SE;
Anders Robertsson, Lund, SE;
Olof Sornmo, Lund, SE;
COGNIBOTICS AB, Lund, SE;
Abstract
A method and system for determining at least one property associated with a selected axis of a manipulator (). The elasticity of the links () and joints () of a manipulator () can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator () such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (). Depending on the complexity of the manipulator () and the number of properties that are of interest, the manipulator () is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator () can be determined, and a global stiffness matrix (MSM) for the total manipulator () can be determined in order to determine at least one property of the selected axis.