US 12,311,548 B2
Estimating joint friction and tracking error of a robotics end effector
Alireza Hariri, Berkeley, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on May 31, 2023, as Appl. No. 18/326,770.
Application 18/326,770 is a continuation of application No. 17/959,718, filed on Oct. 4, 2022, granted, now 11,697,207.
Application 17/959,718 is a continuation of application No. 16/893,315, filed on Jun. 4, 2020, granted, now 11,478,928, issued on Oct. 25, 2022.
Claims priority of provisional application 62/858,937, filed on Jun. 7, 2019.
Prior Publication US 2024/0066693 A1, Feb. 29, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 9/1664 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computerized method for controlling movement of an end effector having a robotic wrist, the method comprising the following operations performed by a computer system:
producing sensor measurements of force or torque in a transmission that mechanically couples the robotic wrist to an actuator, wherein the sensor measurements are cable force measurements;
estimating joint friction in a joint of the robotic wrist, based on the cable force measurements, by relating the cable force measurements to a joint friction variable; and
performing control tasks to control movement of the end effector, by using the estimated joint friction.