Determining An Orientation Of A Robot Relative To The Direction Of Gravity

• US 20190009410A1
• Filed: 01/09/2017
• Published: 01/10/2019
• Est. Priority Date: 01/11/2016
• Status: Abandoned Application

• Current Assignee: KUKA Deutschland GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Deutschland GmbH (Midea Group Co., Ltd)
• Inventors: Radrich, Helmuth
• Application Number:
  US16/068,239
• Publication Number:
  US 20190009410A1
• Time in Patent Office: Days
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 9/1638 compensation for arm bending/inertia, pay load weight/inertia
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 2219/39176 Compensation deflection arm
• CPC Class Codes: G05B 2219/39178 Compensation inertia arms
• CPC Class Codes: G05B 2219/39182 Compensation for base, floor deformation
• CPC Class Codes: G05B 2219/39194 Compensation gravity
• CPC Class Codes: G05B 2219/39322 Force and position control

Abstract

A method for determining an orientation or installation of a robot relative to a direction of gravity for at least one installation location of the robot, and for horizontal alignment or alignment relative to the direction of gravity of a robot includes creating a model wherein joint forces are identified in at least one calibration pose. The robot is then into a new installation location and the joint forces of the robot are identified in at least one measuring pose. Based on the identified joint forces and the model of the robot, the orientation, i.e. the orientation or the installation, of the robot relative to the direction of gravity is determined. The orientation of the robot is corrected by tilting the robot base such that the identified joint forces do not deviate from the forces defined in the model.

Claims

1. A method for determining an orientation of a robot (10) relative to a gravitational direction (g_actual) in at least one installation location of the robot, having the steps of:

detecting (S10) joint forces of the robot in at least one measuring pose; and

ascertaining (S20) an orientation of the robot relative to the gravitational direction based on the detected joint forces and a model of the robot.

2-15. -15. (canceled)