Method for precisely determining an output torque, and collaborative robot
AssigneeSchaeffler Technologies AG & Co. KG
InventorJochen Damerau
Life of this patent
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Abstract
The invention relates to a method for precisely determining an output-side torque, in particular an output-side torque of an actuator gearing mechanism of a joint of a collaborative robot, by means of an artificial intelligence which is designed to output one or more output variables on the basis of input variables, wherein the input variables of the artificial intelligence comprise: a first angular specification which corresponds to an input-side angular position and a second angular specification which corresponds to an output-side angular position, and additionally the output variables comprise the output torque determined by the artificial intelligence. (FIG. 1)
Claims16
A method for determining an output-side torque of an actuator gearing mechanism of a joint of a collaborative robot comprising:
- receive input variables;
- and
- executing a machine learning algorithm configured to implement a machine learning model, wherein the machine learning algorithm is configured to output one or more output variables on the basis of the input variables, wherein the input variables comprise:
- a first angular specification corresponding to an input-side angular position;
- and
- a second angular specification corresponding to an output-side angular position,
- and wherein the output variables comprise the output torque determined by the machine learning algorithm.
A collaborative robot comprising:
- a robotic device, in particular a robot arm and/or an assembly system, wherein the robotic device includes one or more joints which can be moved by motors;
- at least one gearing mechanism;
- one or more input-side angular position sensors to determine on the input side an input-side angular position with respect to the at least one gearing mechanism;
- one or more output-side angular position sensors to determine on the output side an output-side angular position in relation to the gearing mechanism;
- an electronic control system configured to take into account a value of a gearing mechanism-side outgoing torque during operation of the collaborative robot, provided by a machine learning algorithm, on the basis of data comprising:
- an input-side angular position of an input-side angular position sensor;
- and
- an output-side angular position of the corresponding output-side angular position sensor.
A computer system for determining an output side torque of an actuator gearing mechanism comprising:
- one or more processors configured to execute a computer program stored in memory configured to cause the one or more processors to:
- receive input variables, wherein the input variables comprise:
- a first angular specification corresponding to an input-side angular position;
- and
- a second angular specification corresponding to an output-side angular position,
- execute a machine learning algorithm configured to implement a machine learning model, wherein the machine learning algorithm is configured to determine the output side torque of the actuator gearing mechanism based on the input variables and the machine learning model.
Dependencies are inferred from the claim text.