{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-11478928","patent":{"patent_number":"US-11478928","title":"Estimating joint friction and tracking error of a robotics end effector","assignee":null,"inventors":[],"filing_date":"2020-06-04T00:00:00.000Z","publication_date":"2022-10-25T00:00:00.000Z","cpc_codes":["B25J","A61B","B25J","A61B","A61B","A61B","A61B","A61B","G05B","G05B"],"num_claims":18,"abstract":"A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Estimating joint friction and tracking error of a robotics end effector","description":"A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-11478928","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-11478928","citation_suggestion":"Patentable. \"Estimating joint friction and tracking error of a robotics end effector\" (US-11478928). https://patentable.app/patents/US-11478928","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-11478928","json":"https://patentable.app/api/llm-context/US-11478928","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-05-31T04:21:02.219Z"}