Global Patent Index - EP 2736681 A1

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

EP 2736681 A1 20140604 (DE)

Application

EP 12743944 A 20120719

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); G05B 2219/39017 (2013.01 - CN EP); G05B 2219/39018 (2013.01 - CN EP)

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