Invention Grant
- Patent Title: Method for estimating a wrench
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Application No.: US17169575Application Date: 2021-02-08
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Publication No.: US11279027B2Publication Date: 2022-03-22
- Inventor: Debora Clever , Fan Dai , Hao Ding , Tomas Groth , Bjoern Matthias , Arne Wahrburg
- Applicant: ABB Schweiz AG
- Applicant Address: CH Baden
- Assignee: ABB Schweiz AG
- Current Assignee: ABB Schweiz AG
- Current Assignee Address: CH Baden
- Agency: Leydig, Voit & Mayer, Ltd.
- Main IPC: B25J9/16
- IPC: B25J9/16
Abstract:
A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.
Public/Granted literature
- US20210162596A1 METHOD FOR ESTIMATING A WRENCH Public/Granted day:2021-06-03
Information query
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