Invention Grant
US09399293B2 Method and system for calculating weight and center of gravity of object lifted by robot
有权
用于计算由机器人抬起的物体重量和重心的方法和系统
- Patent Title: Method and system for calculating weight and center of gravity of object lifted by robot
- Patent Title (中): 用于计算由机器人抬起的物体重量和重心的方法和系统
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Application No.: US14501586Application Date: 2014-09-30
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Publication No.: US09399293B2Publication Date: 2016-07-26
- Inventor: Wan Jae Shin
- Applicant: Hyundai Motor Company
- Applicant Address: KR Seoul
- Assignee: Hyundai Motor Company
- Current Assignee: Hyundai Motor Company
- Current Assignee Address: KR Seoul
- Agency: Mintz Levin Cohn Ferris Glovsky and Popeo, P.C.
- Agent Peter F. Corless
- Priority: KR10-2014-0070965 20140611
- Main IPC: B25J9/18
- IPC: B25J9/18 ; B25J9/16 ; B25J13/08
Abstract:
A method for calculating weight and center of gravity of an object lifted by a robot includes lifting an object, measuring a change in angle of each joint through an angle sensor provided for each joint of the gripper in the event of the lifting, and calculating angular velocity and acceleration of each joint, calculating, via a controller, acceleration of the object, measuring an upper pressing force and a lower pressing force using force sensors installed on the joints, and calculating, via the controller, the weight of the object using a vertical component of the acceleration of the object, gravitational acceleration, and the upper and lower pressing forces.
Public/Granted literature
- US20150360368A1 METHOD AND SYSTEM FOR CALCULATING WEIGHT AND CENTER OF GRAVITY OF OBJECT LIFTED BY ROBOT Public/Granted day:2015-12-17
Information query
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