Method and computing system for determining a value of an error parameter indicative of quality of robot calibration

A non-transitory computer-readable medium having instructions thereon that, when executed by at least one processing circuit of a computing system, causes the at least one processing circuit to perform the following:

• storing sensor data on the non-transitory computer-readable medium, wherein the sensor data includes:
• (i) a set of movement data indicative of an amount or rate of relative movement between a pair of immediately adjacent arm segments of a robot arm that is occurring or has occurred via a joint of the robot arm, and (ii) a set of actuation data indicative of overall torque or overall force at the joint in a time period during which the relative movement is occurring or has occurred,
• wherein the instructions, when executed by the at least one processing circuit, further cause the at least one processing circuit to perform the following:
• determining, based on the movement data and the actuation data, at least one of:
• (i) a friction parameter estimate associated with friction between the pair of immediately adjacent arm segments, or (ii) a center of mass (COM) estimate associated with one of the pair of immediately adjacent arm segments, and wherein the instructions cause the at least one processing circuit to further perform the following:
• determining actuation prediction data based on the sensor data and based on the at least one of:
• (i) the friction parameter estimate or (ii) the CoM estimate, wherein the actuation prediction data is a prediction which is indicative of overall torque or overall force at the joint at different points in time;
• determining residual data, which includes residual data values describing deviation between the actuation prediction data and the sensor data corresponding to the different points in time, respectively;
• and
• determining, based on the residual data, a value for an error parameter which describes the residual data values.

A method performed by a computing system, the method comprising:

• storing sensor data on a non-transitory computer-readable medium of the computing system wherein the sensor data which the non-transitory computer-readable medium is configured to store includes:
• (i) a set of movement data indicative of an amount or rate of relative movement between a pair of immediately adjacent arm segments of a robot arm that is occurring or has occurred via a joint of the robot arm, and (ii) a set of actuation data indicative of overall torque or overall force at the joint in a time period during which the relative movement is occurring or has occurred,
• wherein the method further comprises:
• determining, based on the set of movement data and the set of actuation data, at least one of:
• (i) a friction parameter estimate associated with friction between the pair of immediately adjacent arm segments, or (ii) a center of mass (COM) estimate associated with one of the pair of immediately adjacent arm segments;
• determining actuation prediction data based on the sensor data and based on the at least one of:
• (i) the friction parameter estimate or (ii) the CoM estimate, wherein the actuation prediction data is a prediction which is indicative of overall torque or overall force at the joint at different points in time;
• determining residual data, which includes residual data values describing deviation between the actuation prediction data and the sensor data corresponding to the different points in time, respectively;
• and
• determining, based on the residual data, a value for an error parameter which describes the residual data values.