# US 11,027,435 B2 · Automated work piece testing 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 11,027,435 B2 - Document ID: US11027435B2 - Status: Granted - Kind: B2 - Application number: 16/209,556 - Filed: 2018-12-04 - Published: 2020-06-04 - Granted: 2021-06-08 - Earliest claimed: 2018-12-04 - Assignees: Raytheon Company - Applicants: Raytheon Company - Inventors: Bryan R. Moosman; Anthony R. Vulcano; Vonn L. Holyoak - Web page: https://patentgrep.com/patent/US11027435B2 ## CPC - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - G01M 1/02: Details of balancing machines or devices - B25J 9/1692: {Calibration of manipulator} - B25J 13/089: {Determining the position of the robot with reference to its environment} - 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}) - G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR ## Abstract A method for identifying at least one physical characteristic of a work piece includes selecting at least one test scheme having one or more test configurations. At least one error isolation scheme is selected having one or more counterpart test configurations. The work piece is moved through the one or more test configurations, and a sensor suite measures one or more of base force, torque, or motion. The work piece is moved through the one or more counterpart test configurations, and counterpart force, torque or motion are measured. Identification of the at least one physical characteristic includes isolating error common to one or more of the measured base and counterpart force, torque or motion, and removing the isolated error from the base measurements to generate one or more of refined force, torque or motion. The at least one physical characteristic is determined according to the one or more refined values. ## Claims ### Claim 1 A method for automatically identifying at least one physical characteristic of a work piece comprising: selecting at least one test scheme for determining the at least one physical characteristic, each test scheme including one or more test configurations; selecting at least one error isolation scheme, the at least one error isolation scheme includes: a load reversal scheme including one or more counterpart test configurations to the one or more test configurations of the selected at least one test scheme; implementing each of the selected at least one test scheme and the at least one error isolation scheme, implementing includes: moving the work piece through the one or more test configurations of the selected at least one test scheme, and measuring one or more of base force, torque, or motion for the work piece with a sensor suite in the one or more test configurations; and moving the work piece through the one or more counterpart test configurations of the selected at least one error isolation scheme, and measuring one or more of counterpart force, torque or motion for the work piece with the sensor suite in the one or more counterpart test configurations; and identifying the at least one physical characteristic of the work piece based on the selected at least one test scheme, identifying the physical characteristic includes: isolating error common to one or more of the measured base and counterpart force, torque or motion including at least creep error; determining one or more of refined force, torque or motion by removing the isolated error including at least one of creep, cross-talk, temperature drift or non-linearity error from one or more of the measured base force, torque or motion; and determining the at least one physical characteristic according to the one or more refined force, torque or motion. ### Claim 2 (depends on 1) The method of claim 1 comprising coupling the work piece to a manipulator arm assembly including the sensor suite. ### Claim 3 (depends on 2) The method of claim 2, wherein coupling the work piece to the manipulator arm assembly includes coupling the work piece to an effector assembly interposed between the work piece and the remainder of the manipulator arm assembly, the effector assembly includes the sensor suite. ### Claim 4 (depends on 1) The method of claim 1, wherein selecting the at least one test scheme includes selecting at least one of: a center of mass test scheme having at least two test configurations including different orientations of the work piece; a moment of inertia test scheme having at least one test configuration including orientation of the work piece along a specified axis and rotation of the work piece around the specified axis; and a center of mass and moment of inertia test scheme having at least two test configurations including orientations of the work piece along at least two specified axes and rotation of the work piece around each of the specified axes. ### Claim 5 (depends on 1) The method of claim 1, wherein the one or more counterpart test configurations include one or more reverse load configurations of the load reversal scheme that are inverse to the respective one or more test configurations of the selected at least one test scheme; and implementing the at least one error isolation scheme includes moving the work piece through the one or more reverse load configurations. ### Claim 6 (depends on 5) The method of claim 5, wherein determine the one or more refined force, torque or motion includes canceling coupled signal components of the measured base force, torque or motion with opposed coupled signal components of the measured counterpart force, torque or motion. ### Claim 7 (depends on 1) The method of claim 1, wherein isolating error common to one or more of the measured base and calibration force, torque or motion includes isolating one or more of creep error of sensors at the sensor suite, cross talk between sensor elements of the sensors, alignment error or concentricity. ### Claim 8 (depends on 1) The method of claim 1, wherein selecting the at least one error isolation scheme based on the selected at least one test scheme, the at least one error isolation scheme includes: a calibration scheme including one or more calibration configurations for a calibration unit, the one or more calibration configurations correspond to the one or more test configurations of the at least one test scheme. ### Claim 9 (depends on 8) The method of claim 8, wherein implementing the at least one error isolation scheme includes: moving the calibration unit through the one or more calibration configurations of the calibration scheme, and measuring one or more of calibration force, torque, or motion for the calibration unit with the sensor suite in the one or more calibration configurations; and identifying the at least one physical characteristic of the work piece based on the selected at least one test scheme includes: isolating error common to one or more of the measured base and calibration force, torque or motion. ### Claim 10 (depends on 9) The method of claim 9, wherein isolating error common to one or more of the measured base and calibration force, torque or motion includes isolating creep error of sensors at the sensor suite. ### Claim 11 (depends on 8) The method of claim 8, wherein the calibration unit includes another work piece, and the calibration scheme and one or more calibration configurations match the selected at least one test scheme and the one or more test configurations. ### Claim 12 (depends on 1) The method of claim 1, wherein selecting the at least one error isolation scheme based on the selected at least one test scheme, the at least one error isolation scheme includes: a counter ballast scheme including movement of a counter ballast movably coupled with the work piece relative to the sensor suite and the work piece. ### Claim 13 (depends on 12) The method of claim 12, wherein implementing the at least one error isolation scheme includes: moving the counter ballast movably coupled with the work piece relative to the sensor suite, and minimizing a moment at the sensor suite according to the moving of the counter ballast. ### Claim 14 (depends on 12) The method of claim 12, wherein a composite assembly includes the work piece and the counter ballast, and implementing the at least one error isolation scheme includes: moving the counter ballast slidably coupled with the work piece relative to the work piece, and aligning a center of mass of the composite assembly with a sensing plane of the sensor suite according to the moving of the counter ballast. ### Claim 15 A manipulation and testing system configured for manipulation of a work piece and determination of at least one physical characteristic of the work piece, the system comprising: a manipulator arm assembly including a work piece interface; a sensor suite associated with the manipulator arm assembly and configured to measure one or more of force, torque or motion of the work piece; and a testing controller in communication with the manipulator arm assembly, the testing controller includes: a test scheme module including at least one test scheme for determining the at least on physical characteristic, each test scheme includes one or more test configurations; an error isolation module including at least one error isolation scheme, the error isolation module includes at least a load reversal scheme including one or more counterpart test configurations to the one or more test configurations; and a physical characteristic determination module in communication with the manipulator arm assembly, the physical characteristic determination module includes: an implementing element configured to operate the manipulator arm assembly through the test and counterpart test configurations; a measurement element configured to collect base and counterpart measurements including one or more of base and counterpart forces, torques or motions for the work piece in the test and counterpart test configurations, respectively; a comparator element configured to compare the base and counterpart measurements, isolate common error therebetween and remove common error from the base measurements; and a determination element configured to determine the at least one physical characteristic of the work piece according to the base measurements having the common error removed. ### Claim 16 (depends on 15) The manipulation and testing system of claim 15 comprising the manipulator arm assembly, the work piece interface configured to grasp and hold the work piece while the manipulator arm assembly moves the work piece through the test and counterpart test configurations. ### Claim 17 (depends on 15) The manipulation and testing system of claim 15, wherein the manipulator arm assembly includes an effector assembly interposed between the work piece and the remainder of the manipulator arm assembly, and the effector assembly includes the sensor suite. ### Claim 18 (depends on 15) The manipulation and testing system of claim 15, wherein the test scheme module includes: a center of mass test scheme having at least two test configurations including different orientations of the work piece; a moment of inertia test scheme having at least one test configuration including orientation of the work piece along a specified axis and rotation of the work piece around the specified axis; and a center of mass and moment of inertia test scheme having at least two test configurations including orientations of the work piece along at least two specified axes and rotation of the work piece around each of the specified axes. ### Claim 19 (depends on 15) The manipulation and testing system of claim 15, wherein the one or more counterpart test configurations include one or more reverse load configurations of the load reversal scheme that are inverse to the respective one or more test configurations of the selected at least one test scheme. ### Claim 20 (depends on 19) The manipulation and testing system of claim 19, wherein the comparator element is configured to remove common error from the base measurements including coupled signal components of the base measurements and opposed coupled signal components of the counterpart measurements. ### Claim 21 (depends on 15) The manipulation and testing system of claim 15, wherein the comparator element is configured to compare the base and counterpart measurements, isolate common error between the base and counterpart measurements including one or more of creep error of sensors at the sensor suite, cross talk between sensor elements of the sensors, alignment error or concentricity. ### Claim 22 (depends on 15) The manipulation and testing system of claim 15 comprising at least one calibration unit approximating a profile and mass of the work piece; and the error isolation module includes: a calibration scheme including one or more calibration configurations for the calibration unit, the one or more calibration configurations correspond to the one or more test configurations of the at least one test scheme. ### Claim 23 (depends on 22) The manipulation and testing system of claim 22, wherein the implementing element is configured to move the calibration unit through the one or more calibration configurations of the calibration scheme; the measurement element is configured to collect calibration measurements including one or more of calibration force, torque, or motion for the calibration unit in the one or more calibration configurations; the comparator element is configured to compare the base and calibration measurements, isolate common creep error therebetween and remove common creep error from the base measurements; and the determination element is configured to determine the at least one physical characteristic of the work piece according to the base measurements having the common creep error removed. ### Claim 24 (depends on 22) The manipulation and testing system of claim 22, wherein the calibration unit includes another work piece, and the calibration scheme and one or more calibration configurations match the selected at least one test scheme and the one or more test configurations. ### Claim 25 (depends on 15) The manipulation and testing system of claim 15 comprising an adjustable ballast system coupled with one or more of the manipulator arm assembly or the work piece, the adjustable ballast system includes: a sensor interface coupled with the sensor suite; at least one rail extending away from the sensor suite; and a counter ballast slidably coupled along the at least one rail, the counter ballast movable toward and away from the sensor suite along the at least one rail, and the counter ballast and the work piece are components of a composite assembly. ### Claim 26 (depends on 25) The manipulation and testing system of claim 25, wherein the error isolation module includes: a counter ballast scheme configured to move the counter ballast relative to the sensor suite and align a center of mass of the composite assembly with a sensing plane of the sensor suite. ### Claim 27 (depends on 25) The manipulation and testing system of claim 25, wherein the adjustable ballast system includes a ballast actuator coupled with one or more of the counter ballast or the at least one rail, and the ballast actuator is configured to move the counter according to the counter ballast scheme.