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

Claim 0:
1. A touch sensing method for a serial manipulator, wherein the serial manipulator has 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; wherein the method comprises:
obtaining a torque value of each of the joints through the torque sensor at the joint;
obtaining a preset joint angle of each of the joints from the serial manipulator;
calculating a plurality of Jacobian matrices of the serial manipulator based on the obtained joint angle of the joints;
estimating 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;
calculating an error between the obtained torque value of the joints and the estimated joint torque of the serial manipulator corresponding to the joints; and
determining 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 corresponding to the joint 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 the calculating the error between the obtained torque value of each of the joints and the estimated joint torque of the serial manipulator corresponding to the joint comprises:
calculating an L2-norm of the error between the torque value of each of the joints and the estimated joint torque of the segment corresponding to the joint; and

the determining one of the plurality of links connected to the joint with the minimum calculated error as having been touched comprises:
determining one of the plurality of links connected to the joint with the minimum calculated L2-norm of the error as having been touched.