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AssigneesGM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space Administration
InventorsMuhammad E. Abdallah, Robert Platt
Estimating the term…
A method for calibrating tension sensors on tendons in a tendon-driven manipulator without disassembling the manipulator and without external force references. The method calibrates the tensions against each other to produce results that are kinematically consistent. The results might not be absolutely accurate, however, they are optimized with respect to an initial or nominal calibration. The method includes causing the tendons to be slack and recording the sensor values from sensors that measure the tension on the tendons. The method further includes tensioning the tendons with the manipulator positioned so that it is not in contact with any obstacle or joint limit and again recording the sensor values. The method then performs a regression process to determine the sensor parameters that both satisfy a zero-torque constraint on the manipulator and minimize the error with respect to nominal calibration values.
A method for calibrating the tension on a set of tendons that drive a manipulator without directly applying any external force references to either the manipulator or the tendons, said calibrating method comprising:
A method for calibrating the tension on a set of tendons that drive a manipulator without disassembling the manipulator or the tendons, or any part therein, said calibrating method comprising:
A robotic system that calibrates the tension on tendons in a manipulator without disassembling the manipulator, said system comprising:
Dependencies are inferred from the claim text.