Method for calibrating a robot and a robot system
US9889565B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jun 23, 2014 |
| Grant date | Feb 13, 2018 |
| Priority date | — |
| Expiry date | Jun 23, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39024
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A system for calibrating a robot having a movable part with a calibration marker including: positioning the calibration marker along an optical line of a camera unit; imaging the calibration marker along the optical line to establish line positions P1 . . . PN within a tolerance k, while monitoring joint values j1 . . . jM of the robot; establishing an error function based on resulting calculated robot positions P′1 . . . P′N, for the calibration marker for joint values j1 . . . jM at each line position P1 . . . PN for the calibration marker; identifying a set of robot kinematic parameters by solving an optimization problem based on the error function; and updating a kinematic model of the robot via the identified set of robot kinematic parameters.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.