Robot calibration method based on pose constraint and force sensing

US12263602B1 · kind B1 · utility

Assignee

• NINGBO INSTITUTE OF MATERIALS TECHNOLOGY & ENGINEERING, CHINESE ACADEMY OF SCIENCES · CN

Inventors

• Guilin Yang · Nanhu, CN
• Jianhui HE · Dongguan, CN
• Silu Chen · Ningbo City, CN
• Hongyu Wan · Ningbo City, CN
• Jingbo Luo · Ningbo City, CN
• Ye Tang · Palo Alto, US
• Zhihui Zhang · Katy, US
• Qingying CHEN · Beijing, CN
• Chi Zhang · Kunshan, CN

Key dates

• Filing date: Jun 20, 2023
• Grant date: Apr 1, 2025
• Expiry date: Jun 20, 2043

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J13/085
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A robot calibration method based on pose constraint and force sensing includes the following steps: establishing a kinematic model, a geometric error model, and a non-geometric error model; installing an end calibration device to an end of a robot, and installing to the geometric constraint device into a working space of the robot; dragging the robot, constraining various calibration spheres of the end calibration device into various V-shaped grooves on the geometric constraint device to achieve pose constraint; then dragging the calibration spheres to V-shaped grooves on different surfaces, and calibrating a geometric parameter error of the robot using a deviation between a nominal end pose measured twice and an actual value; reading an end force by a force sensor to calibrate the non-geometric error model; identifying kinematic model parameters of a corresponding robot; and compensating an identified kinematic model parameter error to a controller of the robot.