Method For Determining A Torque And An Industrial Robot
AssigneeKUKA Roboter GmbH
InventorsGernot Nitz, Michael Thummel
Life of this patent
Estimating the term…
Abstract
The invention concerns an industrial robot (1) and a method to determine a torque having an effect on a limb of the robotic arm (2). The robotic arm (2) has several sequentially arranged limbs (3-7), of which a first limb (4) is stored relative to a second limb (5) of the limbs on an axis of rotation (A2), and using a stationary motor (11) relative to the second limb (4) and a gearbox (12) connected to the motor (11), is rotatable around the axis of rotation (A2).
Claims11
A method for determining a torque having an effect on a limb of a robotic arm, whereby the robotic arm has several sequentially arranged limbs, of which a first limb is supported relative to a second limb of the limbs on an axis of rotation, and by use of a stationary motor relative to the second limb a gearbox then connected to the motor, is rotatable around the axis of rotation, and has the following method steps:
- determining the angle of rotation turned toward the driving side (φA) of the motor and the angle of rotation turned to the reducing side (φB) of the gearbox, and
- determining the torque having an effect on the first member on the basis of the determined driving side and reducing side angles of rotation (φA, φB) of the gearbox and based on a mathematical model of the gearbox, which takes into account in particular the elastic properties of the gearbox.
Dependencies are inferred from the claim text.