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Method for the Alignment of a Multiaxial Manipulator with an Input Device

  • US 20160199984A1
  • Filed: 12/09/2015
  • Published: 07/14/2016
  • Est. Priority Date: 01/14/2015
  • Status: Active Grant
First Claim
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1. A method for the alignment of a multiaxial manipulator with an input device, fixed onto an object, which input device serves to intuitively control the manipulator, comprising:

  • a) executing one or more reference movements with the input device;

    b) executing one or more corresponding reference movements with the manipulator by means of a direct guiding of the manipulator by hand;

    c) recording the executed reference movements;

    d) calculating a transformation matrix based on the recorded reference movements; and

    E) using the calculated transformation matrix for the alignment of the movements of the input device with the manipulator.

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