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    Vision-based sensor system and control method for robot arms
    2.
    发明授权
    Vision-based sensor system and control method for robot arms 有权

    公开(公告)号：US11833696B2

    公开(公告)日：2023-12-05

    申请号：US16962210

    申请日：2019-01-14

    Applicant: Technische Universität München

    Inventor： Nicolas Alt ,  Clemens Schuwerk ,  Eckehard Steinbach ,  Stefan Lochbrunner ,  Dong Qiuwei

    IPC: B25J9/16

    CPC classification number: B25J9/1697 ,  G05B2219/39391

    Abstract: A method for determining the joint positions of a kinematic chain uses only an imaging sensor and a computing unit. Characteristic features on the links and joints of the kinematic chain are identified and the joint positions are calculated from these visual measurements. The robot can be controlled without the use of joint encoders. A sensor system for monitoring the status of a kinematic chain includes a computing unit and an imaging sensor. The imaging sensor may be mounted to the kinematic chain or in the surroundings of the kinematic chain and monitors the kinematic chain and/or the surroundings of the kinematic chain. The computing unit determines a pose and/or movement parameters of at least one element of the kinematic chain by analyzing an output signal of the imaging sensor, in particular by analyzing characteristic features and determines a rotational joint position by analyzing the characteristic features.

    TACTILE SENSOR
    3.
    发明申请
    TACTILE SENSOR 有权
    TACTILE传感器

    公开(公告)号：US20160107316A1

    公开(公告)日：2016-04-21

    申请号：US14884659

    申请日：2015-10-15

    Applicant: Technische Universität München

    Inventor： Nicolas Alt ,  Eckehard Steinbach

    IPC: B25J9/16 ,  B25J15/00 ,  G01L1/04 ,  G08B6/00

    CPC classification number: B25J9/1697 ,  B25J9/1612 ,  B25J13/025 ,  B25J13/081 ,  B25J19/023 ,  G01L1/25 ,  G01L5/226 ,  G05B2219/39532 ,  G05B2219/40575 ,  Y10S902/01 ,  Y10S902/09

    Abstract: A visuo-haptic sensor is presented which uses a deformable, passive material that is mounted in view of a camera. When objects interact with the sensor the deformable material is compressed, causing a change in the shape thereof. The change is shape is detected and evaluated by and image processor that is operatively connected to the camera. The camera may also observe the vicinity of the manipulator to measure ego-motion and motion of close-by objects. The visuo-haptic sensor may be attached to a mobile platform, a robotic manipulator or to any other machine which needs to acquire haptic information about the environment.

    Abstract translation: 提出了一种视觉触觉传感器，它使用一个可变形的被动材料，该可变形的被动材料安装在相机的视野下。 当物体与传感器相互作用时，可变形材料被压缩，导致其形状改变。 变化是通过可操作地连接到相机的图像处理器检测和评估的形状。 相机还可以观察机械手的附近以测量靠近物体的自主运动和运动。 视觉触觉传感器可以附接到移动平台，机器人操纵器或需要获取关于环境的触觉信息的任何其他机器。

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