Unlock instant, AI-driven research and patent intelligence for your innovation.

Fault detection response in robotic arm

A robot arm and failure technology, applied in the field of detecting and responding to the failure of the robot arm, can solve the problems of increasing the weight of the robot arm and occupying the space of the robot arm

Pending Publication Date: 2022-05-17
CMR SURGICAL LTD
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, incorporating mechanical brakes into the drive train of each motor increases the weight of the robotic arm and takes up space within the robotic arm

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
  • Fault detection response in robotic arm
  • Fault detection response in robotic arm
  • Fault detection response in robotic arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0034] The following disclosures relate to the control figure 2 A robot 200 of the type shown in . The robot consists of a robotic arm 202 connected at one end to a base 201 and at the other end to an instrument 203 . Robotic arm 202 includes a series of links 204 interleaved with flexible joints 205 . Each flexible joint allows the links it connects to move relative to each other. The flexible joints may include swivel joints, each of which allows the links to which it is attached to rotate relative to each other about an axis. The flexible joints may include telescoping joints, each allowing the links to which it is connected to extend along an axis relative to each other. The instrument 203 includes a shaft 206 and an end effector 207 for performing operations.

[0035] Each joint is driven by a motor 208 . The joint controller 209 controls the motors to drive the joints. Each joint in the robot arm can be driven by a separate motor. Suitably, the motor is located p...

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

A method of testing a motor fault of a robotic arm during a startup procedure of the robotic arm. The robotic arm includes a first link connected to a second link by a joint that allows the second link to move relative to the first link. The motor is used for driving the joint and is a multi-phase motor, each phase of the motor comprises a motor winding and a motor driving circuit, and the motor driving circuit is used for applying electric power to the motor winding from a power supply rail and applying a driving signal to the motor winding. The method comprises, in the following order: (i) driving the motor to a known state; (ii) connecting only a first phase of the electric machine to the power rail; (iii) a motor drive circuit driving a pulse width modulation (PWM) signal through a first phase of the motor; (iv) driving the motor to a known state; (v) a motor drive circuit that drives the PWM signal through a first phase of an electric machine with the first phase of the electric machine disconnected from the power rail; and (vi) repeating steps (ii) to (v) for each of the other phases of the electric machine; the method further includes testing, during each of steps (i) to (vi), whether a current from the power rail to the motor drive circuit exceeds a current limit.

Description

technical field [0001] The present invention relates to controlling robotic arms, and in particular to detecting and responding to faults in robotic arms. Background technique [0002] figure 1 A typical robot 100 is shown for performing operations. The robot 100 is composed of a base 101 , a robot arm 102 and an instrument 103 . The base 101 supports the robot and is itself rigidly attached to eg the floor, the ceiling or the cart. A robotic arm 102 extends between the base and the instrument. The robotic arm consists of rigid links 104 interleaved with flexible joints 105 . The robotic arm is thus articulated and able to move its distal end within the workspace, thus moving the instrument. The instrument includes a shaft 106 and an end effector 107 . The end effector 107 is located at the most distal position of the instrumentation of the robotic arm. The end effector participates in the ongoing operation of the robot. For example, a robot may be an industrial robo...

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): G01R31/34G01R31/26G01R19/00
CPCG01R31/343G01R31/2607G01R19/00H02P1/00B25J9/1674
Inventor 伊万·克罗宁哈米什·亨德森
Owner CMR SURGICAL LTD