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

Claim 8:
9. The serial manipulator of claim 8, 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.