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Title:
METHOD FOR CALIBRATING KINEMATIC PARAMETERS OF MULTI-DOF MANIPULATORS
Document Type and Number:
WIPO Patent Application WO/2021/076016
Kind Code:
A1
Abstract:
The invention relates to the field of robotics and can be used for refining the geometrical parameters of the links of multi-degree-of-freedom (multi-DoF) manipulators, in particular industrial, underwater and collaborative manipulators. For parameter estimation, a tool with a different orientation is moved manually into an arbitrary fixed point in space. The position of the end point is monitored visually using a pointed component and a set of calibration data is generated. A vector of the position of the end point of the tool is then estimated in a second system of coordinates and an initial estimate of the kinematic parameters of the manipulator is generated. A quality criterion value is calculated that characterizes the range of variation in the estimates of the positions of the end point of the tool that have been calculated using the initial estimate of the kinematic parameters of the manipulator relative to the fixed point. An iterative procedure for calculating the estimates of the kinematic parameters of the manipulator is then carried out. This results in increasing the accuracy of positioning a working instrument of a multi-DoF manipulator.

Inventors:
GUBANKOV ANTON SERGEEVICH (RU)
YUKHIMETS DMITRIJ ALEKSANDROVICH (RU)
KLIMCHIK ALEKSANDR SERGEEVICH (RU)
Application Number:
PCT/RU2020/050278
Publication Date:
April 22, 2021
Filing Date:
October 12, 2020
Export Citation:
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Assignee:
AVTONOMNAYA NEKOMMERCHESKAYA ORGANIZATSIYA VYSSHEGO OBRAZOVANIYA UNIV INNOPOLIS (RU)
International Classes:
B25J9/16
Foreign References:
RU2605393C22016-12-20
RU2466858C12012-11-20
CN109676636A2019-04-26
CN109591010A2019-04-09
Attorney, Agent or Firm:
ABDRAKHMANOVA, Marina Vasilevna (RU)
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