View source for 18948710. Reducing Kinematic Error (ABB Schweiz AG)

=Reducing Kinematic Error=


==Organization Name==

[[:Category:ABB Schweiz AG|ABB Schweiz AG]]


[[Category:ABB Schweiz AG]]

==Inventor(s)==

[[:Category:Arne Wahrburg of Weiterstadt (DE)|Arne Wahrburg of Weiterstadt (DE)]][[Category:Arne Wahrburg of Weiterstadt (DE)]]

[[:Category:Richard Roberts of Gilching (DE)|Richard Roberts of Gilching (DE)]][[Category:Richard Roberts of Gilching (DE)]]

[[:Category:Stig Moberg of Västerås (SE)|Stig Moberg of Västerås (SE)]][[Category:Stig Moberg of Västerås (SE)]]

[[:Category:Nima Enayati of Mannheim (DE)|Nima Enayati of Mannheim (DE)]][[Category:Nima Enayati of Mannheim (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.



[[Category:B25J9/16]]
[[Category:CPC_B25J9/1641]]