Method, device and computer readable media for use with robot
AssigneeABB Schweiz AG
InventorsZhuo SHI, Yizhi CHEN, Bojun MA, Xiuxiu YIN
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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 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.
A device for use with a robot, the robot comprising at least one arm, the device comprising:
- a force receiving module configured to receive a force applied onto a force sensor attached at an end of the arm;
- a first vector determining module configured to determine a first vector from the force sensor;
- a second vector determining module configured to determine a second vector based on a torque of a joint of the robot, the joint being coupled to the arm;
- and
- a relation determining module configured to determine a transformation relation between the first vector and the second vector.
Dependencies are inferred from the claim text.