US 12,251,838 B2
System and/or method for error compensation in mechanical transmissions
Abhinav Kumar, Simi Valley, CA (US); Aditya Bhatia, Simi Valley, CA (US); Akash Bansal, Simi Valley, CA (US); Anubhav Singh, Simi Valley, CA (US); Ashutosh Prakash, Simi Valley, CA (US); Aman Malhotra, Simi Valley, CA (US); Harshit Gaur, Simi Valley, CA (US); Prasang Srivasatava, Simi Valley, CA (US); and Ashish Chauhan, Simi Valley, CA (US)
Assigned to Orangewood Labs Inc., Simi Valley, CA (US)
Filed by Orangewood Labs Inc., Simi Valley, CA (US)
Filed on Nov. 10, 2023, as Appl. No. 18/388,738.
Application 18/388,738 is a continuation of application No. 17/481,136, filed on Sep. 21, 2021, abandoned.
Application 17/481,136 is a continuation of application No. 17/229,328, filed on Apr. 13, 2021, granted, now 11,148,287, issued on Oct. 19, 2021.
Claims priority of provisional application 63/008,952, filed on Apr. 13, 2020.
Prior Publication US 2024/0075614 A1, Mar. 7, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 9/10 (2006.01); B25J 13/08 (2006.01); B25J 17/02 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/103 (2013.01); B25J 9/1641 (2013.01); B25J 9/1653 (2013.01); B25J 13/088 (2013.01); B25J 17/025 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A system comprising:
a set of joints of a robot arm, each joint comprising:
an actuator;
a transmission defining a drive end connected to an output of the actuator and a driven end rotatable about a rotational axis of the joint; and
a first and second sensor connected to the drive end and the driven end of the joint, respectively, and configured to sample positions of the drive end and the driven end, respectively; and
a controller comprising a respective backlash model for each joint of the robot arm, wherein the controller is configured to control the actuator of each joint according to a set of control instructions to compensate for a predicted backlash error between the drive end and the driven end, based on the positions of the drive end and the driven end, using the respective backlash model,
wherein each joint defines a maximum control tolerance of less than 0.1 degrees, wherein a maximum backlash of the mechanical transmission exceeds the maximum control tolerance.