Method for estimating a wrench
AssigneeABB Schweiz AG
InventorsDebora Clever, Fan Dai, Hao Ding, Tomas Groth, Bjoern Matthias, Arne Wahrburg
Life of this patent
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Abstract
A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.
Claims12
A method for estimating a wrench acting on a reference point of a robot, comprising the steps of:
- a) measuring at least one component, but not all components, of the wrench;
- and
- b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components,
- wherein step b) comprises a maximum-likelihood estimation of the non-measured components.
A method for estimating a wrench acting on a reference point of a robot, comprising the steps of:
- a) measuring at least one component, but not all components, of the wrench;
- and
- b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components,
- wherein step b) comprises calculating a first estimate of the wrench based on the dynamical model alone, and refining the first estimate using a maximum-a-posteriori estimation.
A method for estimating a wrench acting on a reference point of a robot, comprising the steps of:
- a) measuring at least one component, but not all components, of the wrench;
- and
- b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components,
- wherein the wrench is predicted by a Kalman filter and the at least one measured component is input as a state measurement into the Kalman filter.
A method for estimating a wrench acting on a reference point of a robot, comprising the steps of:
- a) measuring at least one component, but not all components, of the wrench;
- and
- b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components,
- wherein among the measured components of the wrench there is at least one force component and/or among the non-measured components there is at least one torque component.
Dependencies are inferred from the claim text.