Method, device and computer readable media for use with robot
AssigneeABB Schweiz AG
InventorsZhuo Shi, Yizhi Chen, Bojun Ma, Xiuxiu Yin
Life of this patent
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Abstract
Embodiments of the present disclosure relate to a method, a device and a computer readable media for use with robot. The robot has at least one arm. The method includes receiving a force applied onto a force sensor attached at an end of the arm; determining a first vector from the force sensor; determining a second vector based on a torque of a joint of the robot, the joint being coupled to the arm; and determining a transformation relation between the first vector and the second vector.
Claims19
A method for use with a robot, the robot comprising at least one arm, the method comprising:
- receiving, by a controller, an electrical signal output by a force sensor corresponding to a force applied onto the force sensor attached at an end of the arm,
- wherein the electrical signal corresponds to the force applied to the force sensor while the robot is kept stationary under the force applied;
- determining, by the controller, a first vector from the electrical signal output by the force sensor while the robot is kept stationary;
- determining, by the controller, a second vector based on data representing torque values of a joint of the robot, the joint being coupled to the arm while the robot is kept stationary;
- determining, by the controller, a transformation relation between the first vector and the second vector;
- and
- determining, by the controller, based on the transformation relation, a positional relation between the force sensor and the end of the arm.
A device for use with a robot, the robot comprising at least one arm, the device comprising:
- a controller connected to the robot, the controller configured to:
- receive an electrical signal output by a force sensor corresponding to a force applied onto the force sensor attached at an end of the arm,
- wherein the electrical signal corresponds to the force applied to the force sensor while the robot is kept stationary under the force applied;
- determine a first vector from the electrical signal output by the force sensor while the robot is kept stationary;
- determine a second vector based on data representing torque values of a joint of the robot, the joint being coupled to the arm while the robot is kept stationary;
- and
- determine a transformation relation between the first vector and the second vector;
- and
- determine, based on the transformation relation, a positional relation between the force sensor and the end of the arm.
Dependencies are inferred from the claim text.