Collision detection
AssigneeGenesis Robotics and Motion Technologies, LP
InventorDavid LOKHORST
Life of this patent
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Abstract
A method of monitoring movement of a robotic arm, the robotic arm being arranged to be moved by an actuator, the method comprising: determining an expected robotic arm condition based on a known robotic condition and a torque applied to the robotic arm by the actuator; measuring an actual robotic arm condition during movement of the arm caused by the applied torque; and determining whether a collision has occurred by comparing the actual robotic arm condition with the expected robotic arm condition and generating a collision signal if a difference between the actual robotic arm condition and the expected robotic arm condition exceeds a threshold.
Claims20
A method of monitoring movement of a robotic arm, the robotic arm being arranged to be moved by an actuator, the method comprising:
- determining an expected robotic arm condition based on a known robotic condition and a torque applied to the robotic arm by the actuator;
- measuring an actual robotic arm condition during movement of the arm caused by the applied torque;
- and
- determining whether a collision has occurred by comparing the actual robotic arm condition with the expected robotic arm condition and generating a collision signal if a difference between the actual robotic arm condition and the expected robotic arm condition exceeds a threshold.
A robotic arm comprising:
- a first member,
- a second member moveably coupled to the first member,
- an actuator arranged to move the first member relative to the second member,
- a measuring device for determining a condition of the first and/or second member, and
- a controller coupled to the actuator and measuring device arranged to carry out the method of any preceding claim.
Dependencies are inferred from the claim text.