Method for optimising the performance of a robot
AssigneeABB Research Ltd.
InventorsBehnam Kamrani, Viktor Berbyuk, Daniel Wappling, Xiaolong Feng
Life of this patent
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Abstract
A method for optimizing performance of a robot. At least one experiment is designed including at least two tests. Each test differs from at least one other test in the experiment regarding the location of the task in relation to the robot. The boundaries that are allowable for location of a task are calculated/determined. The effect on optimality for at least one test in the experiment is calculated/determined. The experimental data is fit to an algorithm. The optimal location of the task is calculated/determined.
Claims24
A method for optimizing performance of a task to a robot, the method comprising:
- designing at least one experiment comprising at least two tests, each test differing from at least one other test in the experiment regarding the a location of the task in relation to the robot,
- calculating/determining boundaries for location of the task, inside which boundries it is possible to perform the task, using a kinematic model of the robot,
- adjusting a location of experimental points relative to the robot so that the experimental point are inside the boundaries,
- calculating/determining an effect on optimality for at least one test in the experiment,
- fitting the experimental data to an algorithm, and
- calculating/determining the optimal location of the task by using the fitted experimental data.
A system for optimizing performance of a task relative to a robot, the system comprising:
- means for designing at least one experiment consisting of at least two tests, each test differing from at least one other test in the experiment regarding a location of the task in relation to the robot,
- means for determining boundaries that are allowable for location of a task,
- means for determining an effect on optimality for at least one test in the experiment,
- means for fitting experimental data to an algorithm, and
- means for calculating an optimal location of the task.
A computer program product, comprising:
- a computer readable medium;
- computer program code instructions recorded on the computer readable medium and executable by a processor for carrying out the steps of:
- designing at least one experiment comprising at least two tests, each test differing from at least one other test in the experiment regarding a location of the task in relation to the robot,
- calculating/determining boundaries for location of the task, inside which boundries it is possible to perform the task, using a kinematic model of the robot,
- adjusting a location of experimental points relative to the robot so that the experimental point are inside the boundaries,
- calculating/determining an effect on optimality for at least one test in the experiment,
- fitting the experimental data to an algorithm, and
- calculating/determining the optimal location of the task by using the fitted experimental data.
(canceled)
Dependencies are inferred from the claim text.