公开(公告)号：US20250114947A1

公开(公告)日：2025-04-10

申请号：US18983744

申请日：2024-12-17

Applicant: ABB SCHWEIZ AG

Inventor： Zhuo SHI ,  Yizhi CHEN ,  Bojun MA ,  Xiuxiu YIN

IPC: B25J13/08

Abstract: Embodiments of the present disclosure relate to a method, a device and a computer readable media for use with robot. The robot has at least one arm. The method includes receiving a force applied onto a force sensor attached at an end of the arm; determining a first vector from the force sensor; determining a second vector based on a torque of a joint of the robot, the joint being coupled to the arm; and determining a transformation relation between the first vector and the second vector.