Patent ID: 9645565
Date: 2017-05-09
CPC Classifications: A61B,B25J,G05B

Claim:
1. A method for determining at least one property of a joint ( 112 , 114 , 116 - 119 , 180 ) of a manipulator ( 110 ), wherein said joint ( 112 , 114 , 116 - 119 , 180 ) is configured to be driven by at least one actuator, the actuator being configured to drive said joint ( 112 , 114 , 116 - 119 , 180 ) via a drivetrain, and a controller ( 140 ) configured to control motion of said joint ( 112 , 114 , 116 - 119 , 180 ), the method comprising: (a) clamping ( (b) actuating ( (c) determining ( (d) determining (