Determining An Orientation Of A Robot Relative To The Direction Of Gravity

Abstract

A method for determining an orientation or installation of a robot relative to a direction of gravity for at least one installation location of the robot, and for horizontal alignment or alignment relative to the direction of gravity of a robot includes creating a model wherein joint forces are identified in at least one calibration pose. The robot is then into a new installation location and the joint forces of the robot are identified in at least one measuring pose. Based on the identified joint forces and the model of the robot, the orientation, i.e. the orientation or the installation, of the robot relative to the direction of gravity is determined. The orientation of the robot is corrected by tilting the robot base such that the identified joint forces do not deviate from the forces defined in the model.

Dependencies are inferred from the claim text.