Method and apparatus for managing robot path
AssigneeABB Schweiz AG
InventorsYichao Mao, Jiafan Zhang
Life of this patent
Estimating the term…
Abstract
Methods, apparatuses, systems, and computer readable media for managing a path of a robot system. The systems include comprises an arm which has a joint for rotating the arm. In the methods, a real path of a tip of the robot system is obtained during directing a movement of the tip to follow an ideal path. A path deviation is identified between the real path and the ideal path. A transmission error of the joint is determined based on the path deviation and kinematic data associated with the movement and a plurality of rotations of the joint respectively at a plurality of time points during the movement.
Claims22
A method for managing a robot path of a robot system, the robot system comprising at least one arm, and an arm in the at least one arms having a joint for rotating the arm, the method comprising:
- obtaining a real path of a tip of the robot system during directing a movement of the tip to follow an ideal path;
- identifying a path deviation between the real path and the ideal path;
- and
- determining a transmission error of the joint based on the path deviation and kinematic data associated with the movement and a plurality of rotations of the joint respectively at a plurality of time points during the movement.
An apparatus for managing a robot path of robot system, the robot system comprising at least one arm, and an arm in the at least one arms having a joint for rotating the arm, the apparatus comprising:
- an obtaining unit, being configured for obtaining a real path of a tip of the robot system during directing a movement of the tip to follow an ideal path;
- an identifying unit, being configured for identifying a path deviation between the real path and the ideal path;
- and
- a determining unit, being configured for determining a transmission error of the joint based on the path deviation and kinematic data associated with the movement and a plurality of rotations of the joint respectively at a plurality of time points during the movement.
Dependencies are inferred from the claim text.