Method for estimating connection orders of modules of modular robot
AssigneeSamsung Electronics Co., Ltd.
InventorsTae Sin Ha, Kyung Shik Roh, Dong Min Shin
Life of this patent
Estimating the term…
Abstract
A method for estimating a connection order of modules in a robot including the modules each having a joint as a basic unit. Since a device and a program are connected by software and thus a joint and program are connected by software, it is possible for a user to control robot joints without being aware of the connection relationship between the devices and the joints in the modular robot in which the plurality of modules each including a movable joint as a basic unit is connected.
Claims17
A method for estimating a connection order of modules of a modular robot, each module including a joint, a link connected to the joint and a device for controlling the joint, the method comprising:
- by one or more processing devices:
- sequentially moving the joints respectively provided in the modules;
- measuring torques applied to the joints while the joints sequentially move;
- arranging indexes of the devices according to the measured torques;
- and
- comparing the arranged indexes of the devices so as to estimate the connection order of the modules.
A method for estimating a connection order of modules of a modular robot, each module including a joint, a link connected to the joint and a device for controlling the joint, the method comprising:
- by one or more processing devices:
- measuring current positions of the joints respectively provided in the modules and setting the measured current positions as reference positions;
- measuring position variations of an end-effector of the modular robot while sequentially moving the joints;
- arranging indexes of the devices in order of measured position variations;
- and
- estimating the connection order of the modules according to the arranged indexes of the devices.
A method for estimating a connection order of modules of a modular robot, each module including a joint, a link connected to the joint and a device for controlling the joint, the method comprising:
- by one or more processing devices:
- measuring acceleration variations of the devices respectively provided in the modules while sequentially moving the joints respectively provided in the modules;
- arranging indexes of the devices in the order of measured acceleration variations;
- and
- estimating the connection order of modules according to the arranged indexes of the devices.
A method for estimating a connection order of modules of a modular robot, each module including a joint, a link connected to the joint and a device for controlling the joint, comprising:
- by one or more processing devices:
- measuring torques applied to the joints while sequentially moving the joints respectively provided in the modules and primarily estimating the connection order of the modules;
- measuring position variations of end-effectors while sequentially moving the joints and secondarily estimating the connection order of the modules;
- measuring acceleration variations of the devices respectively provided in the modules while sequentially moving the joints and thirdly estimating the connection order of the modules;
- computing relative distances between the joints using the primarily, secondarily and thirdly estimated connection orders;
- and
- averaging the computed relative distances between the joints and rearranging the connection order of the modules based on the averaging.
Dependencies are inferred from the claim text.