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Patent Searching and Data


Title:
METHOD AND COMPUTING SYSTEM FOR ESTIMATING PARAMETER FOR ROBOT OPERATION
Document Type and Number:
WIPO Patent Application WO/2021/225150
Kind Code:
A1
Abstract:
A computing system and method for estimating friction and/or center of mass (CoM) are presented. The system may perform the method by selecting at least one of: (i) a first joint from among a plurality of joints, or (ii) a first arm segment from among a plurality of arm segments. The computing system further outputs a set of one or more movement commands for causing robot arm movement that includes relative movement between the first arm segment and a second arm segment via the first joint, and receiving a set of actuation data and a set of movement data associated with the first joint or the first arm segment. The computing system further determines, based on the set of actuation data and the set of movement data, at least one of: (i) a friction parameter estimate or (ii) a CoM estimate.

Inventors:
SAADAT DEHGHAN ATILLA (JP)
USUI KEI (JP)
Application Number:
PCT/JP2021/017442
Publication Date:
November 11, 2021
Filing Date:
May 07, 2021
Export Citation:
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Assignee:
MUJIN INC (JP)
International Classes:
B25J13/00
Foreign References:
US20100087955A12010-04-08
US20170290601A12017-10-12
Attorney, Agent or Firm:
INABA, Yoshiyuki et al. (JP)
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