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Robot positioning

A robot positioning and robot technology, applied in the direction of instruments, manipulators, program control manipulators, etc., can solve the problem that the kinematics model cannot be updated to the kinematics model, etc.

Active Publication Date: 2016-01-13
HEXAGON TECH CENT GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Even though all parameters can be changed, the kinematic model itself may not be updated to a more advanced kinematic model

Method used

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Embodiment Construction

[0021] The disclosed embodiments relate to devices, systems and methods for positioning robots. A calibrated kinematic model can be developed for the robot. While the position of the robot is determined, the robot can be instructed to assume a number of calibration poses. A kinematic model can be developed based on the determined position of the robot and the associated calibration pose.

[0022] Positioning information can be provided to the robot based on the developed kinematic model. This kinematic model can be adopted without changing the local kinematic model of the robot. The robot can provide target positions that can be used with a kinematic model to determine a set of target joint poses that position the robot at the target positions. This target joint pose can be provided to the robot so that the robot can change its joint pose and move accurately to the target position.

[0023] Reference will now be made to the drawings in which like structure will be provided...

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Abstract

A robot positioning device for identifying the kinematic parameter of a robot model and using the identified model to control the robot position. The robot positioning device includes a calibrator, a modeler, and an instructor. The calibrator is configured to direct the location measuring system to determine calibration end-effector locations when robot joints are positioned in calibration joint positions. The modeler is configured to create a calibrated kinematic model relating robot joint positions to end-effector locations based at least in part on the end-effector calibration locations received from the location measuring system and associated calibration joint positions of the robot joints. The instructor is configured to receive an end-effector goal location from the robot. The instructor is further configured to transmit goal joint positions to the robot, the goal joint positions based at least in part on the end-effector goal location and the calibrated kinematic model.

Description

technical field [0001] Embodiments disclosed herein relate to robotic positioning apparatus, systems and methods. Background technique [0002] In the course of performing a task, conventional robots can follow instructions to move the robot's instruments to a target location or a series of target locations. [0003] In many cases, a robot is installed in a specific operating environment to perform a task, and the joint positions necessary to perform the task are manually taught to the robot. To perform the task, the robot then moves through the learned joint poses. In this case, calibrating the robot may not be necessary, since each target position of the robot and / or the robot's instruments can be set manually and can simply be associated with a set of joint poses measured by the robot . [0004] Instead of manually teaching the robot each target position, the movement of the robot can often be programmed using computer-aided design (CAD) and / or computer-aided manufactu...

Claims

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Application Information

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IPC IPC(8): G05B23/02B25J9/16
CPCB25J9/1692G05B2219/39019G05B2219/39031
Inventor J·M·卡尔金斯R·J·萨莱莫
Owner HEXAGON TECH CENT GMBH