18948710. Reducing Kinematic Error (ABB Schweiz AG)
Reducing Kinematic Error
Organization Name
Inventor(s)
Arne Wahrburg of Weiterstadt (DE)
Richard Roberts of Gilching (DE)
Reducing Kinematic Error
This abstract first appeared for US patent application 18948710 titled 'Reducing Kinematic Error
Original Abstract Submitted
A method includes determining a movement of a robot arm in which a joint while being rotated from a start angle to an end angle, is subject to a constant gravity-induced torque; controlling execution of the movement, and, in the movement, controlling the joint to rotate from the start angle to the end angle at a constant speed; detecting speed fluctuations of the joint while it is being rotated from the start angle to the end angle; and estimating the kinematic error based on the speed fluctuations.