EP 2736681 A1 20140604 - METHOD FOR CALIBRATING KINEMATICS
Title (en)
METHOD FOR CALIBRATING KINEMATICS
Title (de)
VERFAHREN ZUR KALIBRIERUNG EINER KINEMATIK
Title (fr)
PROCÉDÉ D'ÉTALONNAGE D'UNE CINÉMATIQUE
Publication
Application
Priority
- DE 102011079764 A 20110725
- EP 2012064162 W 20120719
Abstract (en)
[origin: WO2013014056A1] The invention relates to a method for calibrating parallel and serial robot kinematics, which have not been constructed especially for achieving the greatest possible accuracies. To this end, there is proposed a method which comprises the following steps: - moving the kinematics along a predetermined number of first configuration vectors, wherein a control function is applied to the configuration vectors, - measuring the pose of the kinematics that is taken up as a result of the movement, - determining second configuration vectors which lead to the measured pose by application of the control function, - determining a correction value for at least a part of the first configuration vectors by evaluating the part of the first and associated second configuration vectors, - determining a function for transforming the configuration space by evaluating the correction values, and - defining a calibrated control function from sequentially carrying out first the function for transforming the configuration space and subsequently the control function.
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: CN EP US)
B25J 9/1664 (2013.01 - US); B25J 9/1692 (2013.01 - CN EP US); G05B 2219/39017 (2013.01 - CN EP US); G05B 2219/39018 (2013.01 - CN EP US)
Citation (search report)
See references of WO 2013014056A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
DOCDB simple family (publication)
DE 102011079764 B3 20121115; CN 103906606 A 20140702; CN 103906606 B 20160817; EP 2736681 A1 20140604; JP 2014521524 A 20140828; US 2015081100 A1 20150319; WO 2013014056 A1 20130131
DOCDB simple family (application)
DE 102011079764 A 20110725; CN 201280040937 A 20120719; EP 12743944 A 20120719; EP 2012064162 W 20120719; JP 2014522040 A 20120719; US 201214235201 A 20120719