Methods for refining original robot command signals
First Claim
1. A method for refining original command signals which are intended, by conversion to corresponding pair variable signals, to place, in response to said pair variable signals, a robot having mechanical linkage and joint actuators at a desired position and orientation (pose), comprising the steps of:
- a. identifying actual system parameters of said robot which describe said mechanical linkage and joint actuators of said robot;
b. predicting, through the utilization of said actual system parameters and said original command signals, a predicted anticipated pose of said robot which would actually be obtained as a result of said original command signals;
c. calculating, as a function of the difference between said desired pose and said predicted anticipated pose, corrected command signals required to minimize the difference between said desired pose and said predicted anticipated pose; and
d. employing said corrected command signals to place said robot in said desired pose.
1 Assignment
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Accused Products
Abstract
A method for refining an original command signal which is intended to locate a robot at a desired position and orientation (pose) comprising the steps of identifying the actual system parameters of the robot; predicting, through utilization of those actual system parameters the anticipated pose of the robot which would actually be obtained as the result of the original command signal; calculating corrected command signals required to minimize the difference between the predicted anticipated pose and the desired pose; and employing the corrected command signals to place the robot. Preferably, a plurality of desired calibration pose command signals are used in the step of identifying the actual system parameters to place the robot in a plurality of actual calibration poses in the measuring range of at least one pose sensor. The differences between the desired calibration poses and the correponding actual poses are calculated and these differences are used to solve a set of equations which relates those differences to the actual system parameters of the robot, to thereby obtain the actual system parameters of the robot.
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Citations
18 Claims
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1. A method for refining original command signals which are intended, by conversion to corresponding pair variable signals, to place, in response to said pair variable signals, a robot having mechanical linkage and joint actuators at a desired position and orientation (pose), comprising the steps of:
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a. identifying actual system parameters of said robot which describe said mechanical linkage and joint actuators of said robot; b. predicting, through the utilization of said actual system parameters and said original command signals, a predicted anticipated pose of said robot which would actually be obtained as a result of said original command signals; c. calculating, as a function of the difference between said desired pose and said predicted anticipated pose, corrected command signals required to minimize the difference between said desired pose and said predicted anticipated pose; and d. employing said corrected command signals to place said robot in said desired pose. - View Dependent Claims (2, 3, 11, 12, 13, 14, 15, 16, 17, 18)
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4. A method for refining original command signals which are intended, by conversion to corresponding pair variable signals, to place, in response to said pair variable signals, a robot having mechanical linkage and joint actuators at a desired position and orientation (pose), comprising the steps of:
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a. identifying actual system parameters of said robot, which describe said mechanical linkage and joint actuators of said robot, by; i. employing a plurality of calibration pose command signals which, based upon nominal system parameters of said robot, would place said robot in a plurality of desired calibration poses, to place said robot in a plurality of corresponding, actual calibration poses, each of which desired and actual calibration poses is within the measuring range of at least one pose sensor; ii. measuring said actual calibration poses of said robot by operation of said pose sensors; iii. calculating the differences between said plurality of said desired calibration poses and said corresponding measured actual calibration poses; iv. solving a set of equations which relate said differences to said actual system parameters of said robot to obtain said actual system parameters of said robot; b. predicting, through utilization of said actual system parameters and said original command signal, a predicted anticipated pose of said robot which would actually be obtained as a result of said original command signals; c. calculating, as a function of the difference between said desired pose and said predicted anticipated pose, corrected command signals required to minimize said difference between said desired, pose and said predicted anticipated pose; and d. employing said corrected command signals to place said robot in said desired pose. - View Dependent Claims (5, 6, 7, 8, 9, 10)
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Specification