Granted Patent B2

US 12,330,306 · App. 17/275,726 · Granted Jun 17, 2025

Inventor: Emil Madsen (Aarhus C, DK)

Assignee: Universal Robots A/S

B25J9/1653B25J9/1633B25J9/1674B25J13/088G05B19/4155G05B2219/40269

Abstract

Claims (73)

1. A method of obtaining a stiffness of a gear of a joint on a robotic arm, where the joint is connectable to at least one other joint on the robotic arm, where the joint comprises a motor having a motor axle, where the motor axle is configured to rotate an output axle through the gear, and where the method comprises:

applying torque to the motor axle using the motor;

obtaining an angular position of the motor axle;

obtaining an angular position of the output axle,

obtaining a deflection of the gear based on the angular position of the motor axle and the angular position of the output axle;

obtaining a flexibility torque of the gear at the deflection of the gear based on at least the angular position of the motor axle, the angular position of the output axle, and a dynamic model of the robotic arm, where the dynamic model defines a relationship between forces acting on the robotic arm and resulting accelerations of the robotic arm;

performing operations repetitively, the operations comprising:

applying a new torque to the motor axle using the motor;

obtaining a new angular position of the motor axle;

obtaining a new angular position of the output axle;

obtaining a new deflection of the gear based on the new angular position of the motor axle and the new angular position of the output axle; and

obtaining a new flexibility torque of the gear at the new deflection of the gear based on at least the new angular position of the motor axle, the new angular position of the output axle, and the dynamic model;

storing each deflection of the gear and each flexibility torque of the gear at a corresponding deflection of the gear;

fitting, to a mathematical function, the flexibility torques and deflections of the gear that were stored, where the mathematical function comprises a polynomial function that is based on a recursive least squares estimation; and

determining the stiffness of the gear based on the mathematical function.

2. The method of claim 1 , wherein applying the torque to the motor axle results in movement of at least a part of the robotic arm.

3. The method of claim 1 , further comprising:

comparing the stiffness of the gear with to prior knowledge of the stiffness of gear; and

providing a status of the gear based on a result of the comparing.

4. The method of claim 1 , wherein the dynamic model comprises information modeling a parallel spring and damper coupling between the motor axle and the output axle.

5. The method of claim 1 , where the robotic arm comprises joints including the joint comprising the gear, where a combination of the joints are for connecting a base and a tool flange, and wherein the method further comprises:

controlling the joint based on the dynamic model and the stiffness of the gear.

6. The method of claim 5 , further comprising:

modifying the dynamic model based on the stiffness of the gear.

7. A method of obtaining a stiffness of a gear of a joint on a robotic arm, where the joint is connectable to at least one other joint on the robotic arm, where the joint comprises a motor having a motor axle, where the motor axle is configured to rotate an output axle through the gear, and where the method comprises:

applying torque to the motor axle using the motor;

obtaining an angular position of the motor axle;

obtaining an angular position of the output axle;

obtaining a deflection of the gear based on the angular position of the motor axle and the angular position of the output axle;

obtaining a flexibility torque of the gear at the deflection of the gear based on at least the angular position of the motor axle, the angular position of the output axle, and a dynamic model, where the dynamic model defines a relationship between forces acting on the robotic arm and resulting accelerations of the robotic arm;

performing operations repetitively, the operations comprising:

applying a new torque to the motor axle using the motor;

obtaining a new angular position of the motor axle;

obtaining a new angular position of the output axle;

obtaining a new deflection of the gear based on the new angular position of the motor axle and the new angular position of the output axle; and

obtaining a new flexibility torque of the gear at the new deflection of the gear based on at least the new angular position of the motor axle, the new angular position of the output axle, and the dynamic model;

storing each deflection of the gear and each flexibility torque of the gear at a corresponding deflection of the gear;

fitting, to a mathematical function, the flexibility torques and the deflections of the gear that were stored; and

determining the stiffness of the gear is based on a slope of flexibility torque relative to the deflection of the gear, the slope being based on the mathematical function.

8. The method of claim 7 , wherein applying the torque to the motor axle results in movement of at least a part of the robotic arm.

9. The method of claim 7 , further comprising:

comparing the stiffness of the gear with to prior knowledge of the stiffness of gear; and

providing a status of the gear based on a result of the comparing.

10. The method of claim 7 , wherein the dynamic model comprises information modeling a parallel spring and damper coupling between the motor axle and the output axle.

11. The method of claim 7 , where the robotic arm comprises joints including the joint comprising the gear, where a combination of the joints are for connecting a base and a tool flange, and wherein the method further comprises:

controlling the joint based on the dynamic model and the stiffness of the gear.

12. The method of claim 11 , further comprising:

modifying the dynamic model based on the stiffness of the gear.

13. A method of obtaining a stiffness of a gear of a joint on a robotic arm, where the joint is connectable to at least one other joint on the robotic arm, where the joint comprises a motor having a motor axle, where the motor axle is configured to rotate an output axle through the gear, and where the method comprises:

applying torque to the motor axle using the motor, where applying the torque to the motor axle results in rotation of the motor axle and the output axle;

obtaining an angular position of the motor axle;

obtaining an angular position of the output axle;

obtaining a deflection of the gear based on the angular position of the motor axle and the angular position of the output axle;

obtaining a flexibility torque of the gear at the deflection of the gear based on at least the angular position of the motor axle, the angular position of the output axle, and a dynamic model, where the dynamic model defines a relationship between forces acting on the robotic arm and resulting accelerations of the robotic arm;

fitting, to a mathematical function, the flexibility torque and the deflection of the gear that were obtained, where the mathematical function comprises a polynomial function that is based on a recursive least squares estimation; and

determining the stiffness of the gear is based on a slope that is based on the mathematical function.

14. The method of claim 13 , wherein applying the torque to the motor axle results in movement of at least a part of the robotic arm.

15. The method of claim 13 , further comprising:

repeating operations comprising:

applying a new torque to the motor axle using the motor;

obtaining a new angular position of the motor axle;

obtaining a new angular position of the output axle;

obtaining a new deflection of the gear based on the angular position of the motor axle and the angular position of the output axle; and

obtaining a new flexibility torque of the gear at the new deflection of the gear based on at least the new angular position of the motor axle, the new angular position of the output axle, and the dynamic model; and

for each repetition of the operations, storing the deflection of the gear and the flexibility torque of the gear at the deflection of the gear;

wherein each deflection of the gear and each flexibility torque of the gear is fit to the mathematical function.

16. The method of claim 15 , further comprising:

comparing the stiffness of the gear to prior knowledge of the stiffness of gear; and

providing a status of the gear based on a result of the comparing.

17. The method of claim 13 , where the robotic arm comprises joints including the joint comprising the gear, where a combination of the joints are for connecting a base and a tool flange, and wherein the method further comprises:

controlling the joint based on the dynamic model and the stiffness of the gear.

18. The method of claim 17 , further comprising:

modifying the dynamic model based on the stiffness of the gear.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (80)