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US 9,248,573 B2Granted
Calibration and programming of robots
AssigneeUniversal Robots A/S
InventorsRune Søe-Knudsen, Esben Hallundbæk Østergaard, Henrik Gordon Petersen
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Abstract
The invention pertains to a method of calibrating robots without the use of external measurement equipment. The invention furthermore pertains to a method of copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.
Claims40
A method of calibrating robots, the method comprising:
- (a) providing at least two robots, each robot having a respective tool flange and joints and/or links connecting two flanges:
- a base flange and the respective tool flange of the robot,
- (b) forming a closed chain from the at least two robots,
- (c) manipulating at least one of the links or joints in the closed chain, thereby inducing manipulations of some of the other links or joints in the closed chain, and then
- (d) estimating kinematic models for each robot based on sensor information associated with the joints and/or links of each of the at least two robots.
2 more elements
Dependencies are inferred from the claim text.