Patent ID: 11931885
Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 14:
15. A non-transitory computer readable storage medium storing one or more programs, wherein the one or more programs comprise instructions, which when executed by a serial manipulator having a plurality of links, a plurality of joints each connected to each of the links and jointly connect the links in series, and a plurality of torque sensors each installed at each of the joints, cause the serial manipulator to:
obtain a torque value of each of the joints through the torque sensor at the joint;
obtain a preset joint angle of each of the joints from the serial manipulator;
calculate a plurality of Jacobian matrices of the serial manipulator based on the obtained joint angle of the joints;
estimate a plurality of joint torques of the serial manipulator based on the obtained torque value of each of the joints and the calculated Jacobian matrices;
calculate an error between the obtained torque value of the joints and the estimated joint torque of the serial manipulator corresponding to the joints; and
determine one of the plurality of links connected to the joint with the minimum calculated error as having been touched;
wherein the estimating the plurality of joint torques of the serial manipulator based on the obtained torque value of each of the joints and the calculated Jacobian matrices comprises:
discretizing the serial manipulator into a plurality of segments; and
estimating the joint torque of each of the segments based on the torque value of the joint corresponding to the segment and the Jacobian matrix corresponding to the segment;

wherein if the calculated Jacobian matrices are non-square matrices, the estimating the joint torque of each of the segments based on the obtained torque value of the joint corresponding to the segment and the Jacobian matrix corresponding to the segment comprises:
calculating an estimated external torque vector f of each of the segments through an equation of:

f=(JT)+τ;

where, J is the Jacobian matrix corresponding to the segment, + denotes the Moore-Penrose pseudoinverse, and τ is a joint torque vector including the torque value of the joint corresponding to the segment.