Patent ID: 9329092
Filing Date: 2016-05-03
CPC Classification: B25J,G01L,G05B

Claim Text:
1. A method for determining with a controller of a robotic manipulator a torque having an effect on a link of a robotic arm, whereby the robotic arm has several sequentially arranged links, of which a first link is supported relative to a second link of the links on an axis of rotation, and by use of a stationary motor relative to the second link and a gearbox then connected to the motor, is rotatable around the axis of rotation, the method comprising: determining the angle of rotation turned toward the driving side of the motor and the angle of rotation turned to the reducing side of the gearbox, and determining the torque having an effect on the first link on the basis of the determined driving side and reducing side angles of rotation of the gearbox and based on a mathematical model of the gearbox, wherein the mathematical model takes into account at least one of: