Title:
METHOD AND COMPUTING SYSTEM FOR DETERMINING VALUE OF ERROR PARAMETER INDICATIVE OF QUALITY OF ROBOT CALIBRATION
Document Type and Number:
Japanese Patent JP2022110050
Kind Code:
A
Abstract:
To provide a computing system which calibrates a robot in order to control movement of the robot with accuracy and reproducibility.SOLUTION: A computing system stores sensor data which includes a set of movement data and a set of actuation data. The computing system divides the sensor data into training data and test data by selecting, as the training data, movement training data and corresponding actuation training data and selecting, as the test data, movement test data and corresponding actuation test data. The computing system determines, on the basis of the movement training data and the actuation training data, at least one of a friction parameter estimate or a center of mass CoM estimate and determines actuation prediction data on the basis of the movement test data and on the basis of the at least one of the friction parameter estimate or the CoM estimate. The computing system further determines residual data and determines a value for an error parameter.SELECTED DRAWING: Figure 4
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Inventors:
ATILLA SAADAT DEHGHAN
USUI KEI
USUI KEI
Application Number:
JP2022077306A
Publication Date:
July 28, 2022
Filing Date:
May 10, 2022
Export Citation:
Assignee:
MUJIN INC
International Classes:
B25J9/10
Attorney, Agent or Firm:
Yoshiyuki Inaba
Toshifumi Onuki
Akihiko Eguchi
Kazuhiko Naito
Takashi Nakatsuka
Toshifumi Onuki
Akihiko Eguchi
Kazuhiko Naito
Takashi Nakatsuka