Methods for refining original robot command signals

A method for refining original command signals which are intended, by conversion to corresponding pair variable signals, to place, in response to said pair variable signals, a robot having mechanical linkage and joint actuators at a desired position and orientation (pose), comprising the steps of:

• a. identifying actual system parameters of said robot, which describe said mechanical linkage and joint actuators of said robot, by:
• i. employing a plurality of calibration pose command signals which, based upon nominal system parameters of said robot, would place said robot in a plurality of desired calibration poses, to place said robot in a plurality of corresponding, actual calibration poses, each of which desired and actual calibration poses is within the measuring range of at least one pose sensor;
• ii. measuring said actual calibration poses of said robot by operation of said pose sensors;
• iii. calculating the differences between said plurality of said desired calibration poses and said corresponding measured actual calibration poses;
• iv. solving a set of equations which relate said differences to said actual system parameters of said robot to obtain said actual system parameters of said robot;
• b. predicting, through utilization of said actual system parameters and said original command signal, a predicted anticipated pose of said robot which would actually be obtained as a result of said original command signals;
• c. calculating, as a function of the difference between said desired pose and said predicted anticipated pose, corrected command signals required to minimize said difference between said desired, pose and said predicted anticipated pose;
• and
• d. employing said corrected command signals to place said robot in said desired pose.