A method of determining a weight and a center of gravity of a load for a robot manipulator, the method including: gripping the load using an end effector; moving the load into a number n of distinct static poses; determining an external wrench wrench F.sub.ext for each of the n static poses; determining, in a base coordinate system, at least components of each external wrench F.sub.ext that indicate the external forces; determining a particular estimation of the weight of the load from a particular component pointing in a direction of a gravity vector from among the components of each external wrench F.sub.ext that indicate the external forces in the base coordinate system, and from a magnitude of the gravity vector; determining the weight of the load by averaging respective estimations of the weight of the load; determining estimations of coordinates of the center of gravity of the load for each of the n static poses based on the weight of the load or the particular estimation of the weight of the load determined for a particular static pose and based on the components of the external wrench F.sub.ext that indicate externally acting torques; and determining the center of gravity of the load by averaging respective estimations of coordinates of the center of gravity.

Force-detecting sensors are installed in a motorcycle's handlebars, footpegs and seat to detect the rider's grip, weight and weight distribution. A control unit interprets the signals from the sensors to determine an attribute of the rider or an intention of the rider to make a manoeuvre. Signals from environmental sensors are used by the control unit to determine whether the intended manoeuvre would endanger the rider, and, if so, the rider is alerted before the manoeuvre is undertaken. The alert is provided before the rider notices the hazard, or before the rider reacts to the hazard. By giving advance warning, of as little as a fraction of a second, a rider is given extra time to avert a potential accident. The control unit also controls settings of the motorcycle during a hazardous state of the motorcycle.

A method determines the combined center of gravity for a materials-handling vehicle and its payload. The method picks up the payload, positions the payload to a first height; subjects the vehicle to a first acceleration force, determines a first pressure in a tilt cylinder, positions the payload to a second height, subjects the vehicle to a second acceleration force, determines a second pressure in the tilt cylinder, and calculates a position of the combined center of gravity of the materials-handling vehicle and the payload. A materials-handling vehicles incorporates a mast, a lift carriage configured to move a payload vertically, a tilt cylinder configured to tilt the mast, a pressure sensor configured to measure a pressure within the tilt cylinder, and a processor configured to calculate a position of the combined center of gravity of the materials-handling vehicle and the payload.

A vending device has at least one display area and an evaluator. The display area is formed by a rigid body, and has at least two, spatially-separated product areas, the rigid body of the display area being held by force transmission areas of at least two weighing cells. The evaluator is configured to, at periodic intervals or when a total weight detected by the at least two weighing cells changes: determine new coordinates of a center of gravity from data of the weighing cells, and transmit the new coordinates to a controller. The controller is configured to: determine a product area within the display area based upon changes in the coordinates of the center of gravity, determine, from the change in a total weight, the weight of goods removed from or added to the determined product area, and update an inventory, stored in a memory, for the product.

The technology provides a method for monitoring a load carrier vehicle (10; 12; 22; 154), comprising measuring at least one sensor value indicating a force and determining a mass based on the at least one sensor value. Furthermore, monitoring devices (156) used in the method and load carrier vehicles (10; 12; 22; 154) are described.

A movement information calculating device includes a positioning sensor, a velocity sensor, an attitude sensor and processing circuitry. The positioning sensor is configured to calculate a position of the positioning sensor on a movable body. The velocity sensor is configured to calculate a velocity of the movable body. The attitude sensor is configured to calculate an attitude of the movable body. The processing circuitry is configured to calculate a center-of-gravity position and a center-of-gravity velocity of the movable body by using the position, the velocity, and the attitude, and calculate one of a turning center position and a pivoting position of the movable body by using the center-of-gravity position and the center-of-gravity velocity.

A system for determining a discrete number of flexible, non-rigid workpiece items loaded onto a robotic carrier. The system includes a robotic carrier capable of traveling to multiple workstations, at least one of which is a weigh station. A loading mechanism is functional to load one or more workpieces onto the robotic carrier which weighed by the weigh station. By comparing the weight of the loaded items with a predetermined weight range of a single workpiece, the number of discrete workpieces loaded onto the robotic carrier can be determined. In addition, a method can be provided for determine position error of a mobile robot based on a detected center of gravity of the mobile robot.

A powered balancing mobility device that can provide the user the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.

Force-detecting sensors are installed in a motorcycle's handlebars, footpegs and seat to detect the rider's grip, weight and weight distribution. A control unit interprets the signals from the sensors to determine an attribute of the rider or an intention of the rider to make a manoeuvre. Signals from environmental sensors are used by the control unit to determine whether the intended manoeuvre would endanger the rider, and, if so, the rider is alerted before the manoeuvre is undertaken. The alert is provided before the rider notices the hazard, or before the rider reacts to the hazard. By giving advance warning, of as little as a fraction of a second, a rider is given extra time to avert a potential accident. The control unit also controls settings of the motorcycle during a hazardous state of the motorcycle.

The invention relates to a method for determining the mass and the center of gravity location of a load (10) of a moving system (12), particularly of a machine tool (14), which comprises a support (20) that is for accommodating the load (10) and is able to rotate around a first axis (16) and a second axis (18) as well as electronically controlled drive units (22, 24) for rotating the support (20) around the first axis (16) and around the second axis (18), wherein a total moment of inertia and a holding torque with regard to the first axis (16) are determined in a loaded state; a total moment of inertia and a holding torque with regard to the second axis (18) are determined in the loaded state; and the mass and the center of gravity location of the load (10) relative to the support (20) are determined based on the total moments of inertia and the holding torques with regard to the first axis (16) and second axis (18).

The invention also relates to a moving system (12), which is equipped to determine the mass and the center of gravity location of a load (10) according to such a method.