Title:
VERIFICATION SYSTEM FOR ROBOT POSE
Document Type and Number:
WIPO Patent Application WO2005074368
Kind Code:
A3
Abstract:
An apparatus and method for assuring effective backup for sensor failure in robots, by utilizing a single extra sensor attached between the end actuator and the base. The single extra sensor provides absolute back-up for any single encoder failure that may occur in the system, and statistically significant back-up for any double encoder failure. A single additional sensor effectively provides the robotic system with one redundant information input to the robot control algorithm, which can be used in order to determine whether any of the other control sensors, or even the additional sensor itself, has failed and is delivering an erroneous reading, and hence to warn the operator of the failure. A single additional sensor also provides useful warning of the simultaneous failure of two sensors, since the likelihood that two sensors fail simultaneously in a mode that makes the failures undetectable, can be regarded as statistically insignificant.
Inventors:
SHOHAM MOSHE (IL)
Application Number:
PCT/IL2005/000132
Publication Date:
April 13, 2006
Filing Date:
February 03, 2005
Export Citation:
Assignee:
MAZOR SURGICAL TECH LTD (IL)
SHOHAM MOSHE (IL)
SHOHAM MOSHE (IL)
International Classes:
G05B15/00; G05B19/4062
Foreign References:
| US20030223078A1 | 2003-12-04 | |||
| US6648583B1 | 2003-11-18 |
Other References:
PARENTI-CASTELLI V. ET AL: "Closed-Form Solution of the Direct Kinematics of the 6-3 Type Stewart Platform Using One Extra Sensor", KLUWER ACADEMIC PUBLISHERS, vol. 31, pages 705 - 714, XP008062378
See also references of EP 1725916A4
See also references of EP 1725916A4
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