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AssigneesFoshan Flexiv Robotics Technology Co, . Ltd., Flexiv Ltd.
InventorsXuesen Li, Kenneth Chao, Yakun Ma, Hao Jiang, Peizhang Zhu, Mengshen Wu, Maozhi Liu, Shuyun Chung, Xiyang Yeh, Shiquan Wang
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The present disclosure relates to a kinematics calibration method for a robot with multiple degrees of freedom. The robot includes a base, an end effector, and a plurality of links connected by joints. The method includes locking part of the multiple degrees of freedom by limiting the base and the end effector impose a limitation of degree of freedom; moving the robot to perform a first movement and accordingly obtaining a first set of data associated with joint angles and a first actual motion of the end effector; calculating a first theoretical motion of the end effector based on the first set of data and initial kinematics parameters; and updating the initial kinematics parameters of the robot to obtain a first set of updated kinematics parameters based on the first theoretical motion and the first actual motion.
A kinematics calibration method for a robot with multiple degrees of freedom, the robot comprising a base, an end effector, and a plurality of links connected by joints, the kinematics calibration method comprising:
A kinematics calibration system for a robot with multiple degrees of freedom, the robot comprising a base, an end effector, and a plurality of links connected by joints, part of the multiple degrees of freedom of the robot being locked by limiting the base and the end effector, wherein the kinematics calibration system comprises a control system for kinematically calibrating the robot, and the control system is configured to:
Dependencies are inferred from the claim text.