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US 12,251,838 B2Granted
System and/or method for error compensation in mechanical transmissions
AssigneeOrangewood Labs Inc.
InventorsAbhinav Kumar, Aditya Bhatia, Akash Bansal, Anubhav Singh, Ashutosh Prakash, Aman Malhotra, Harshit Gaur, Prasang Srivasatava, Ashish Chauhan
Life of this patent
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Abstract
The system can include a set of joints, a controller, and a model engine; and can optionally include a support structure and an end effector. Joints can include: a motor, a transmission mechanism, an input sensor, and an output sensor. The system can enable articulation of the plurality of joints.
Claims19
A system comprising:
- a set of joints of a robot arm, each joint comprising:
- an actuator;
- a transmission defining a drive end connected to an output of the actuator and a driven end rotatable about a rotational axis of the joint;
- and
- a first and second sensor connected to the drive end and the driven end of the joint, respectively, and configured to sample positions of the drive end and the driven end, respectively;
- and
- a controller comprising a respective backlash model for each joint of the robot arm, wherein the controller is configured to control the actuator of each joint according to a set of control instructions to compensate for a predicted backlash error between the drive end and the driven end, based on the positions of the drive end and the driven end, using the respective backlash model,
- wherein each joint defines a maximum control tolerance of less than 0.1 degrees, wherein a maximum backlash of the mechanical transmission exceeds the maximum control tolerance.
5 more elements
A method comprising:
- measuring a first and a second position of a drive end and a driven end of a gearbox, respectively;
- and
- based on a set of control instructions associated with a target output for the drive end of the gearbox, controlling an actuator coupled to the drive end, comprising:
- using a backlash model for the gearbox, predicting a backlash error between the drive end and the driven end based on the first and second positions;
- and
- compensating for the predicted backlash error,
- wherein the target output defines a maximum control tolerance of less than 0.1 degrees, wherein a maximum backlash of the gearbox exceeds the maximum control tolerance.
4 more elements
Dependencies are inferred from the claim text.