ROBOT POSITIONING
First Claim
1. A robot positioning device for determining and providing joint positions to robots in an operation environment of the robots such that the robots will be positioned at a goal location when joints of the robots are positioned in the provided joint positions, the robot positioning device comprising:
- a first interface configured to communicate with a first robot;
a second interface configured to communicate with a location measuring system;
a calibrator configured to direct the location measuring system via the second interface to determine a plurality of calibration locations of the first robot when joints of the first robot are positioned in a plurality of calibration joint positions;
a modeler configured to create a first calibrated model relating joint positions of the first robot to locations of the first robot, the first calibrated model based at least in part on the plurality of calibration locations of the first robot received from the location measuring system and associated calibration joint positions of the joints of the first robot; and
an instructor configured to;
receive a first goal location from the first robot via the first interface, andtransmit a first plurality of goal joint positions to the first robot via the first interface, the first plurality of goal joint positions based at least in part on the first goal location and the first calibrated model.
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Accused Products
Abstract
In an example embodiment, a robot positioning device includes a first interface configured to communicate with a robot and a second interface configured to communicate with a location measuring system. The robot positioning device includes a calibrator, a modeler, and an instructor. The calibrator is configured to direct the location measuring system to determine robot calibration locations when robot joints are positioned in calibration joint positions. The modeler is configured to create a calibrated model relating robot joint positions to robot locations based at least in part on the robot calibration locations received from the location measuring system and associated calibration joint positions of the robot joints. The instructor is configured to receive a goal location from the robot. The instructor is further configured to transmit goal joint positions to the robot, the goal joint positions based at least in part on the goal location and the calibrated model.
24 Citations
20 Claims
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1. A robot positioning device for determining and providing joint positions to robots in an operation environment of the robots such that the robots will be positioned at a goal location when joints of the robots are positioned in the provided joint positions, the robot positioning device comprising:
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a first interface configured to communicate with a first robot; a second interface configured to communicate with a location measuring system; a calibrator configured to direct the location measuring system via the second interface to determine a plurality of calibration locations of the first robot when joints of the first robot are positioned in a plurality of calibration joint positions; a modeler configured to create a first calibrated model relating joint positions of the first robot to locations of the first robot, the first calibrated model based at least in part on the plurality of calibration locations of the first robot received from the location measuring system and associated calibration joint positions of the joints of the first robot; and an instructor configured to; receive a first goal location from the first robot via the first interface, and transmit a first plurality of goal joint positions to the first robot via the first interface, the first plurality of goal joint positions based at least in part on the first goal location and the first calibrated model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for directing a robot 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 via the second interface to determine a plurality of calibration locations of the robot when joints of the robot are positioned in a plurality of calibration joint positions; a modeler configured to create a calibrated model relating the joint positions of the robot to the locations of the robot, the calibrated model based at least in part on the plurality of calibration locations of the robot received from the location measuring system and an associated plurality of calibration joint positions of the joints of the robot; and an instructor configured to; receive a goal location from the robot via the first interface, and transmit goal joint positions to the robot via the first interface, the goal joint positions based at least in part on the goal location and the calibrated model. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A method of providing joint positions based on a calibrated kinematic model to a robot 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:
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directing a location measuring system to determine a plurality of calibration locations of the robot when the joints of the robot are positioned in a plurality of calibration joint positions; creating the calibrated kinematic model relating the joint positions of the robot to the locations 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 an associated plurality of calibration joint positions of the joints of the robot; receiving a goal location from the robot; and transmitting a plurality of goal joint positions to the robot, the plurality of goal joint positions based at least in part on the goal location and the calibrated kinematic model. - View Dependent Claims (19, 20)
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Specification