Robot calibration method based on pose constraint and force sensing

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United States of America

PATENT NO 12263602
SERIAL NO

18841699

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Abstract

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A robot calibration method based on pose constraint and force sensing includes the following steps: establishing a kinematic model, a geometric error model, and a non-geometric error model; installing an end calibration device to an end of a robot, and installing to the geometric constraint device into a working space of the robot; dragging the robot, constraining various calibration spheres of the end calibration device into various V-shaped grooves on the geometric constraint device to achieve pose constraint; then dragging the calibration spheres to V-shaped grooves on different surfaces, and calibrating a geometric parameter error of the robot using a deviation between a nominal end pose measured twice and an actual value; reading an end force by a force sensor to calibrate the non-geometric error model; identifying kinematic model parameters of a corresponding robot; and compensating an identified kinematic model parameter error to a controller of the robot.

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Patent Owner(s)

Patent OwnerAddress
NINGBO INSTITUTE OF MATERIALS TECHNOLOGY & ENGINEERING CHINESE ACADEMY OF SCIENCES315201 NO 519 ZHUANG AVENUE ZHENHAI DISTRICT ZHEJIANG NINGBO NINGBO CITY ZHEJIANG PROVINCE 315201

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Chen, Qingying Ningbo, CN 5 0
Chen, Silu Ningbo, CN 1 0
He, Jianhui Ningbo, CN 4 2
Luo, Jingbo Ningbo, CN 1 0
Tang, Ye Ningbo, CN 16 45
Wan, Hongyu Ningbo, CN 1 0
Yang, Guilin Ningbo, CN 11 19
Zhang, Chi Ningbo, CN 419 2663
Zhang, Zhihui Ningbo, CN 132 1158

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