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

Claim 3:
4. The method of claim 1, wherein the plurality of links are seven links, and the serial manipulator further has a base connected to the first link in the seven links through one of the joints corresponding to the first link; the determining one of the plurality of links connected to the joint with the minimum calculated L2-norm of the error as having been touched comprises:
determining a touch point as being on whether the second and the third links in the seven links or the fourth, the fifth, the sixth and the seventh links in the seven links based on a threshold of the L2-norm of the error between the torque value of each of the joints and the estimated joint torque of the serial manipulator corresponding to the joint;
tuning parameters of the serial manipulator based on a testing result, and determining whether the second link or the third link is touched based on the torque values obtained through the torque sensors at the joints corresponding to the first link, the second link and the third link, in response to the touch point being determined as being on the second and the third links in the seven links; and
determining one of the plurality of links connected to the joint with the minimum calculated L2-norm of the error as having been touched, in response to the touch point being determined as being on the fourth, the fifth, the sixth and the seventh links in the seven links.