Title:
METHOD AND APPARATUS FOR TUNING ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2022/056823
Kind Code:
A1
Abstract:
The methods, apparatuses, systems and computer readable media for tuning a robot system (100). In a method, sensed positions (310) of a target (150) that is processed by the robot system (100) are collected from a sensor (140) of the robot system (100) during a movement of the robot system (100) at a predetermined velocity and a predetermined accuracy. Robot positions (320) of the robot system (100) are collected from a controller (110) of the robot system (100) during the movement. Robot position estimations (322) are obtained based on the robot positions (320) and the sensed positions (310), the robot position estimations (322) being associated with a sensor delay of the robot system (100) caused by the sensor (140). The sensor delay is determined based on the sensed positions (310) and the robot position estimations (322). Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for tuning a robot system(100). With these embodiments, the time delay may be detected in an accurate and effective way.
Inventors:
MAO YICHAO (CN)
LI SHUNCHONG (CN)
LI SHUNCHONG (CN)
Application Number:
PCT/CN2020/116149
Publication Date:
March 24, 2022
Filing Date:
September 18, 2020
Export Citation:
Assignee:
ABB SCHWEIZ AG (CH)
MAO YICHAO (CN)
LI SHUNCHONG (CN)
MAO YICHAO (CN)
LI SHUNCHONG (CN)
International Classes:
B25J9/16
Foreign References:
| US20110218675A1 | 2011-09-08 | |||
| CN111136642A | 2020-05-12 | |||
| CN111496776A | 2020-08-07 | |||
| CN107107336A | 2017-08-29 | |||
| US20100161125A1 | 2010-06-24 |
Attorney, Agent or Firm:
KING & WOOD MALLESONS (CN)
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