Robot modeling and positioning

A system for directing a robot including a robot controller having a native kinematic model associated with the robot and a plurality of portions movably attached together via a plurality of joints to accurate locations in an operation environment, the system comprising:

• a robot positioning device including:
• a first interface configured to communicate with the robot;
• a second interface configured to communicate with a location measuring system;
• a calibrator configured to direct the location measuring system to measure a plurality of calibration locations of the plurality of portions of the robot relative to the operation environment when the plurality of joints of the robot are positioned in a plurality of calibration joint positions relative to the robot, wherein the location measuring system optically measures the calibration locations of each of the plurality of portions of the robot;
• a modeler configured to create a calibrated kinematic model relating the joint positions of the plurality of joints of the robot to locations of one or more of the plurality of portions of the robot, the calibrated kinematic model based at least in part on the plurality of calibration locations of the robot received from the location measuring system and the plurality of calibration joint positions of the plurality of joints of the robot;
• and
• an instructor configured to:
• receive a goal location from the robot via the first interface;
• determine a plurality of goal joint positions based at least in part on the goal location and the calibrated kinematic model, the plurality of goal joint positions configured to locate the robot at the goal location when the plurality of joints of the robot are positioned according to the plurality of goal joint positions;
• and
• transmit the plurality of goal joint positions to the robot via the first interface,
• wherein the robot is configured to move to the goal location based on the plurality of goal joint positions without relying on the native kinematic model of the robot controller.

A method of providing joint positions based on a calibrated kinematic model to a robot including a plurality of portions movably attached together via a plurality of joints in an operation environment of the robot such that the robot will be positioned at a goal location when joints of the robot are positioned in the provided joint positions, the method comprising:

• interfacing communicatively with a robot that includes a robot controller having a native kinematic model;
• directing, with a processing device, a location measuring system to measure a plurality of calibration locations of the plurality of portions of the robot when the plurality of joints of the robot are positioned in a plurality of calibration joint positions, wherein the location measuring system optically measures the calibration locations of each of the plurality of portions of the robot;
• creating the calibrated kinematic model relating the positions of the plurality of joints of the robot to locations of one or more of the plurality of portions of the robot, the calibrated kinematic model based at least in part on the plurality of calibration locations of the plurality of portions of the robot received from the location measuring system and the plurality of calibration joint positions of the plurality of joints of the robot;
• receiving a goal location from the robot;
• determining a plurality of goal joint positions based at least in part on the goal location and the calibrated kinematic model, the plurality of goal joint positions configured to locate the robot at the goal location when the plurality of joints of the robot are positioned according to the plurality of goal joint positions;
• transmitting a plurality of goal joint positions to the robot;
• and
• moving, by the robot controller, the robot to the goal location based on the goal joint positions without relying on the native kinematic model.