Title:
MOBILE ROBOT AND ROBOT ARM ALIGNMENT METHOD THEREOF
Document Type and Number:
WIPO Patent Application WO/2020/171527
Kind Code:
A1
Abstract:
Disclosed is a mobile robot for carrying out predetermined work in a work area using a tool, the mobile robot comprising: a robot front end connected to a tool; a first position measurement sensor provided to the robot front end and measuring current position information of the robot front end on the basis of a fixed coordinate system; a position calculation device for calculating a first rotation matrix of the robot front end on the basis of the current position information; a position calibration calculation device for calculating a third rotation matrix on the basis of the difference between the first rotation matrix, and a second rotation matrix which corresponds to a work area, and converting the third rotation matrix into robot angle information for controlling the robot front end; and a robot controller for aligning the robot front end with the work area on the basis of the robot angle information. In addition, various embodiments are possible as identified in the specification.
Inventors:
BAHN WOOK (KR)
ROH KYUNGSHIK (KR)
MIN JUNHONG (KR)
YOON SUKJUNE (KR)
LEE SOHEE (KR)
CHOI MINYONG (KR)
ROH KYUNGSHIK (KR)
MIN JUNHONG (KR)
YOON SUKJUNE (KR)
LEE SOHEE (KR)
CHOI MINYONG (KR)
Application Number:
PCT/KR2020/002290
Publication Date:
August 27, 2020
Filing Date:
February 18, 2020
Export Citation:
Assignee:
SAMSUNG ELECTRONICS CO LTD (KR)
International Classes:
B25J9/16; B25J19/02
Foreign References:
| US4453085A | 1984-06-05 | |||
| US7443124B2 | 2008-10-28 | |||
| US5392384A | 1995-02-21 | |||
| KR100956520B1 | 2010-05-06 | |||
| KR100244758B1 | 2000-03-02 |
Attorney, Agent or Firm:
BAE, KIM & LEE IP GROUP (KR)
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