US 12,564,963 B2 · Method and apparatus for tuning robot system

Abstract

Methods, apparatuses, systems, and computer readable media for tuning a robot system. In a method, sensed positions of a target that is processed by the robot system are collected from a sensor of the robot system during a movement of the robot system at a predetermined velocity and a predetermined accuracy. Robot positions of the robot system are collected from a controller of the robot system during the movement. Robot position estimations are obtained based on the robot positions and the sensed positions, the robot position estimations being associated with a sensor delay of the robot system caused by the sensor. The sensor delay is determined based on the sensed positions and the robot position estimations. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for tuning a robot system.

Claims20

Dependent claims

A method for tuning a robot system, comprising:

collecting, from a sensor of the robot system, sensed positions of a target that is processed by the robot system during a movement of the robot system at a predetermined velocity and a predetermined accuracy;
collecting, from a controller of the robot system, robot positions of the robot system during the movement;
obtaining target position estimations based on the robot positions and the sensed positions, the target position estimations being associated with a sensor delay of the robot system caused by the sensor;
wherein obtaining the target position estimations comprises:
determining robot position estimations based on a regression operation on the robot positions;
and
obtaining the target position estimations based on a geometry relationship between the robot position estimations and the sensed positions at a plurality of time points during the movement;
and
determining the sensor delay based on the target position estimations.

6 more elements

An apparatus for tuning a robot system, comprising:

a sensed position collecting unit, being configured for collecting, from a sensor of the robot system, sensed positions of a target that is processed by the robot system during a movement of the robot system at a predetermined velocity and a predetermined accuracy;
a robot position collecting unit, being configured for collecting, from a controller of the robot system, robot positions of the robot system during the movement;
an obtaining unit, being configured for obtaining target position estimations based on the robot positions and the sensed positions, the target position estimations being associated with a sensor delay of the robot system caused by the sensor;
wherein the obtaining unit comprises:
a robot position estimating unit, being configured for determining robot position estimations based on a regression operation on the robot positions;
and
a target position estimating unit, being configured for obtaining the target position estimations based on a geometry relationship between the robot position estimations and the sensed positions at a plurality of time points during the movement;
and
a determining unit, being configured for determining the sensor delay based on the target position estimations.

6 more elements

Dependencies are inferred from the claim text.

Method and apparatus for tuning robot system

Life of this patent

Method and apparatus for tuning robot system

Life of this patent

Abstract

Claims20