Patent ID: 9079305
Filing Date: 2015-07-14
Classification: B25J,G05B

Abstract:
1. For a robot comprising (i) a series elastic actuator comprising a motor, a gearbox, and a series spring connected to a load and, associated therewith, (ii) a plurality of sensors for monitoring a state or action of the robot by measuring a plurality of respective physical quantities, a method of monitoring the robot for sensor failure, the method comprising: establishing at least two constraints relating readings of the plurality of sensors to each other, the at least two constraints including at least two of a kinematics constraint associated with the motor and the series spring, a torque-generation constraint associated with torque generated by the motor and a position of the load, a voltage-velocity constraint associated with current into the motor and angular velocity generated by the motor, a thermal-response constraint associated with a temperature of the motor and a power delivered thereto, or a load-dynamics constraint associated with the angular position of the load and the torque applied to the load; and monitoring the plurality of sensor readings for violation of any of the at least two constraints.