Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Method and device for estimating torque

A transmission device and function technology, applied in the field of torque estimation and device, can solve problems such as difficult determination and complex measurement error, and achieve the effects of accurate results, increased redundancy, and cost-effective design

Pending Publication Date: 2020-06-30
PILZ (COMPANY)
View PDF12 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the disadvantage is that estimation and derivation errors must be taken into account when determining the torque from indirect measurements
These are often more complex and harder to determine than the measurement errors of direct measurements

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method and device for estimating torque
  • Method and device for estimating torque
  • Method and device for estimating torque

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0035] exist figure 1 In , the robot according to the exemplary embodiment of the present invention is generally indicated by reference numeral 10 .

[0036] In this exemplary embodiment, robot 10 is an industrial robot. Industrial robots are general purpose programmable machines used to handle, assemble or process workpieces. The industrial robot comprises a manipulator 12 (robot arm), a controller 14 and an actuator 16 which may be designed as a tool or gripper.

[0037] For example, figure 1 The manipulator 12 shown in has two links 18 and three joints 20 . It goes without saying, however, that the invention is not limited to the number of links and joints shown here. Instead, the method presented here can be applied to multiple individual joints.

[0038] The link 18 of the manipulator 12 moves via a joint 20 and is driven by a drive 22 which is connected to the robot 10 via a transmission 24 . The transmission 24 and drive 22 are shown separately from the manipulato...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a method and apparatus for torque estimation. A method (100, 200) for estimating a torque acting on a joint (20) of a robot (10). The method includes performing an identification routine to optimize a torque estimate via rotational deformation of the transmission (24) and / or combining a first estimate of torque via rotational deformation of the transmission (24) and a second estimate of torque via the motor current (28).

Description

technical field [0001] The invention relates to a method for estimating torques acting on joints of a robot and to a corresponding robot. Background technique [0002] Today, basic tasks in industrial production are performed by robots that work increasingly autonomously. However, it has been shown that human operators will continue to be an integral part of modern production facilities in the future. As a result, developments are increasingly focused on the field of safe human-robot collaboration, that is, creating environments in which humans and robots can work together without restriction. [0003] Particular attention is paid to safety technology, which must be designed in such a way that at no time is there any danger to people or objects through cooperation with robots or other autonomous work units. For this, it is important that the robot or autonomous unit "recognizes" the environment and the actors operating in it, and can take action at any time to prevent inju...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1633B25J9/161B25J19/0095B25J9/1692B25J9/1607B25J9/1641B25J9/1653B25J9/1674B25J13/088G01L3/14
Inventor 克努特·格赖兴丹尼尔·巴科维奇托比亚斯·戈尔德安德烈亚斯·弗尔茨
Owner PILZ (COMPANY)
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com