# US 10,369,702 B2 · Automated work piece moment of inertia (MOI) identification system and method for same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,369,702 B2 - Document ID: US10369702B2 - Status: Granted - Kind: B2 - Application number: 15/406,944 - Filed: 2017-01-16 - Published: 2018-04-19 - Granted: 2019-08-06 - Earliest claimed: 2016-10-17 - Assignees: Raytheon Company - Applicants: Raytheon Company - Inventors: Anthony R. Vulcano; Vonn L. Holyoak; Bryan R. Moosman - Web page: https://patentgrep.com/patent/US10369702B2 ## CPC - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - B25J 11/00: Manipulators not otherwise provided for - G01L 5/226: {to manipulators, e.g. the force due to gripping} - G01M 1/10: Determining the moment of inertia - G01M 1/122: {Determining position of centre of gravity} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) - G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR ## Abstract A method and system for identifying a moment of inertia (MOI) of a work piece includes coupling the work piece to a manipulator assembly such as a 6-axis robotic arm or 3-axis gimbal. The manipulator assembly includes a force/torque sensor and a motion feedback sensor. The manipulator assembly moves the work piece with three-dimensional motion. Force, torque and movement measurements are made as the work piece moves. The MOI is identified according to the force and torque measurements and rotational accelerations derived from the measured movement. The measurements may be used to identify the products of inertia (POI) and center of mass of the work piece. ## Claims ### Claim 1 A method for automatically identifying a moment of inertia (MOI) of a work piece comprising: coupling a work piece to a manipulator assembly including a manipulator arm having two or more members interconnected with actuators at joints and an effector assembly having a force/torque sensor, wherein: the effector assembly is interposed between the manipulator arm and the work piece; and the force/torque sensor of the effector assembly is configured to measure force and torque transmitted from the work piece to the manipulator assembly and a motion feedback sensor is configured to measure motion of the work piece; moving the work piece and the effector assembly in a three-axis coordinate system with the actuators of the manipulator arm, said motion including at least rotation of the work piece about each of three axes; measuring with the force/torque sensor at least a first force and at least a first torque for each of the three axes as the work piece is moving; measuring with the motion sensor the movement of the work piece including at least a first rotation about each of the three axes; and identifying the MOI in each of the three axes according to at least the measured first torque and first rotation for each of the three axes. ### Claim 2 (depends on 1) The method of claim 1, wherein the manipulator assembly includes a robotic arm capable of 6-axis motion including three-axis translation and three-axis rotation. ### Claim 3 (depends on 2) The method of claim 2, wherein coupling the work piece to the manipulator assembly includes the robotic arm autonomously picking up the work piece. ### Claim 4 (depends on 3) The method of claim 3, wherein moving the work piece in the three-axis coordinate system and measuring at least the first force, at least the first torque and at least the first rotation about each of the three axes is included with moving the work piece between first and second pieces of equipment in one or more of an assembly line or a testing line with the manipulator assembly. ### Claim 5 (depends on 2) The method of claim 2, further comprising: moving the work piece in the three-axis coordinate system with the manipulator assembly, said motion including at least rotation about each of three axes offset by 45 degrees from the three axes of the coordinate system; measuring with the force/torque sensor at least a first force and at least a first torque for each of the three offset axes as the work piece is moving; measuring with the motion sensor the movement of the work piece including at least a first rotation about each of the three offset axes; and identifying products of inertia (POI) of the work piece in each of the three offset axes according to at least the measured first torque and at least the first force and movement for each offset axis. ### Claim 6 (depends on 2) The method of claim 2, further comprising positioning the work piece in at least two different static orientations relative to a gravity vector with the manipulator assembly, measuring a force and a torque in different static orientations, and identifying the work piece center of mass according to the force and torque measurements. ### Claim 7 (depends on 2) The method of claim 2, wherein moving the work piece in three-axis coordinate system includes with the robotic arm, moving the work piece to each of three orthogonal orientations, and for each orientation, rotating the work piece about an axis parallel to a gravity vector and through a center of mass of the work piece; measuring with the force/torque sensor at least the first torque as the work piece is rotating about the axis; measuring with the motion sensor at least the first rotation of the work piece about the axis; and identifying the MOI for the orientation according to at least the measured first torque and first rotation. ### Claim 8 (depends on 2) The method of claim 2, wherein moving the work piece in the three-axis coordinate system includes with the robotic arm, moving the work piece to each of three orthogonal orientations, and for each orientation, rotating the work piece about an axis; measuring with the force/torque sensor at least the first force and at least the first torque as the work piece is rotating about the axis; measuring with the motion sensor the rotation of the work piece about the axis; and identifying the MOI for the orientation according to at least the measured first force, first torque and rotation. ### Claim 9 (depends on 8) The method of claim 8, wherein the axis is at an unknown distance dl from an unknown center of mass for the work piece, further comprising repeating the rotation and measurement for each orientation at a different unknown distance d1 from the unknown center of mass, and identifying both the MOI and center of mass from the measured first force, first torque and first rotation for the three axis for distances d1 and d2. ### Claim 10 (depends on 2) The method of claim 2, wherein moving the work piece in the three-axis coordinate system includes with the robotic arm, moving the work piece to simultaneously rotate about all three axes, wherein identifying the MOI includes simultaneously identifying the MOI for all three axes. ### Claim 11 (depends on 1) The method of claim 1, comprising coupling an effector assembly including the force/torque sensor and the motion feedback sensor with the manipulator assembly. ### Claim 12 (depends on 11) The method of claim 11, wherein the motion feedback sensor comprises an inertial measurement unit (IMU) that measures velocity and acceleration both in translation along and in rotation about each of the three axes. ### Claim 13 (depends on 1) The method of claim 1, wherein the motion feedback sensor comprises a plurality of encoders coupled to stage motors that provide the rotation of the manipulator assembly about each of the three axes. ### Claim 14 A method for automatically identifying a moment of inertia (MOI) of a work piece comprising: coupling a work piece to an effector assembly, the effector assembly coupled with a robotic arm capable of six-axis motion including three-axis translation and three-axis rotation, the effector assembly includes: a work piece interface configured to grasp and hold the work piece; a torque sensor configured to measure torque transmitted from the work piece to the effector assembly; and a motion feedback sensor configured to measure motion of the work piece about each said axis, the motion feedback sensor is coupled with at least one of the effector assembly or the robotic arm; determining an MOI for each of three orthogonal orientations of the work piece established by the robotic arm including: rotating the effector assembly and the work piece about an axis parallel to a gravity vector and through a center of mass of the work piece with the robotic arm; measuring with the torque sensor at least a first torque as the work piece is rotating about the axis; measuring with the motion sensor at least a first rotation of the work piece about the axis; and identifying the MOI for the orientation according to at least the measured first torque and first rotation. ### Claim 15 A method for automatically identifying a center of mass and a moment of inertia (MOI) of a work piece comprising: coupling a work piece to an effector assembly having a force/torque sensor, the effector assembly coupled proximate an end of a manipulator assembly, the manipulator assembly includes a motion feedback sensor configured to measure motion of the work piece; identifying the center of mass of the work piece including: positioning the effector assembly and the work piece in at least two different static orientations relative to a gravity vector with the manipulator assembly; measuring a force and a torque in the different static orientations with the force/torque sensor of the effector assembly; and identifying a work piece center of mass according to the force and torque measurements; and identifying the moment of inertia of the work piece including: moving the effector assembly and the work piece dynamically in a three-axis coordinate system with the manipulator assembly including at least rotation of the work piece about each of the three axes; measuring at least a first torque for each of the three axes as the work piece is moving with the force/torque sensor of the effector assembly; measuring the motion of the work piece including at least a first rotation about each of the three axes; and identifying the MOI in each of the three axis according to at least the measured first torque and first rotation about each of the three axes. ### Claim 16 A method for automatically identifying a center of mass and a moment of inertia (MOI) of a work piece comprising: coupling a work piece to an effector assembly having a force/torque sensor, the effector assembly coupled proximate and end of a manipulator assembly, the manipulator assembly includes a motion feedback sensor configured to measure motion of the work piece; identifying the center of mass and the moment of inertia of the work piece including: moving the effector assembly and the work piece in a three-axis coordinate system with the manipulator assembly, said motion including at least rotation of the work piece about each of the three axes; measuring with the force/torque sensor of the effector assembly at least a first force and at least a first torque for each of the three axes as the work piece is moving; measuring with the motion feedback sensor the movement of the work piece including at least a first rotation of the workpiece about each of the three axes; and identifying the MOI and center of mass in each of the three axes according to at least the measured first force and first torque and first rotation for each of the three axes. ### Claim 17 A system configured for manipulation of a work piece and determination of a moment of inertia (MOI) of the work piece comprising: a manipulator assembly including an effector assembly and a manipulator arm having two or more members interconnected with actuators at joints, the effector assembly is coupled with the manipulator arm proximate an end of the manipulator arm, and the effector assembly includes: a work piece interface configured to grasp and hold a work piece while the manipulator assembly dynamically moves the effector assembly and the work piece in a three-axis coordinate system; and a force/torque sensor configured to measure force and torque transmitted from the work piece to the effector assembly; a feedback motion sensor coupled with the manipulator assembly, the feedback motion sensor configured to measure motion of the work piece; and a MOI determination module in communication with the manipulator assembly and the force/torque sensor, the MOI determination module includes: a manipulation element, the manipulation element configured to move the manipulator arm with the actuators at joints, the effector assembly and the work piece coupled with the effector assembly dynamically through the three-axis coordinate system including rotation of the work piece at least about each of the three axes; a force and torque measurement element configured to measure the force and torque of the work piece in each of the three axes with the force/torque sensor; a feedback motion sensor element configured to measure motion of the work piece including rotation about each of the three axes with the feedback motion sensor; and an identification element in communication with the force and torque measurement element and feedback motion sensor element, the identification element configured to identify the MOI according to at least the torque measurements and motion measurements conducted as the work piece moves and rotates about each of the three axes. ### Claim 18 (depends on 17) The system of claim 17, wherein the manipulator assembly includes a robotic arm capable of six-axis motion including three-axis rotation and three-axis translation. ### Claim 19 (depends on 18) The system of claim 18, wherein the robotic arm is configured to autonomously pick up the work piece and move the work piece in the three-axis coordinate system while moving the work piece between first and second pieces of equipment in one or more of an assembly line or a testing line with the manipulator assembly. ### Claim 20 (depends on 18) The system of claim 18, wherein the manipulation element is configured to move the robotic arm and the work piece to each of three orthogonal orientations, and for each orientation, rotate the work piece about an axis parallel with a gravity vector and through a center of mass of the work piece; measure with the torque sensor at least the first torque as the work piece is rotating about the axis; measure with the motion sensor the rotation of the work piece about the axis; and identify the MOI for the orientation according to at least the measured first torque and rotation. ### Claim 21 (depends on 17) The system of claim 17, further comprising an effector assembly coupled to the manipulator assembly, said effector assembly comprising: a manipulator interface configured to couple with the manipulator assembly, the manipulator interface includes: a mechanical latch configured to interfit with the manipulator assembly, and a data and power link; a work piece interface coupled with the manipulator interface, the work piece interface includes a second mechanical latch configured to interfit with the work piece and statically couple the work piece to the work piece interface; the force/torque sensor between the manipulator interface and the work piece interface, the force/torque sensor configured to measure force and torque between the manipulator and work piece interfaces; and the feedback motion sensor between the manipulator interface and the work piece interface, the feedback motion sensor configured to measure motion of the work piece. ### Claim 22 (depends on 17) The system of claim 17, further comprising: a center of mass determination module in communication with the manipulator assembly and the force/torque sensor, the MOI determination module includes a manipulation element configured to position the work piece in at least two different static orientations relative to a gravity vector with the manipulator assembly, a force and torque measurement element configured to measure a force and a torque in different static orientations, and an identification element configured to identify the center of mass according to the force and torque measurements.