Title:
METHOD AND COMPUTING SYSTEM FOR DETERMINING A VALUE OF AN ERROR PARAMETER INDICATIVE OF QUALITY OF ROBOT CALIBRATION
Document Type and Number:
WIPO Patent Application WO/2021/225152
Kind Code:
A1
Abstract:
A computing system and method are presented. The computing system may store sensor data which includes: (i) a set of movement data, and (ii) a set of actuation data. The computing system may divide the sensor data into training data and test data by: (i) selecting, as the training data, movement training data and corresponding actuation training data, and (ii) selecting, as the test data, movement test data and corresponding actuation test data. The computing system may determine, based on the movement training data and the actuation training data, at least one of: (i) a friction parameter estimate or (ii) a center of mass (CoM) estimate, and may determine actuation prediction data based on the movement test data and based on the at least one of the friction parameter estimate or the CoM estimate. The computing system may further determine residual data, and determine a value for an error parameter.
Inventors:
SAADAT DEHGHAN ATILLA (JP)
USUI KEI (JP)
USUI KEI (JP)
Application Number:
PCT/JP2021/017446
Publication Date:
November 11, 2021
Filing Date:
May 07, 2021
Export Citation:
Assignee:
MUJIN INC (JP)
International Classes:
B25J13/00
Foreign References:
| US20100087955A1 | 2010-04-08 | |||
| US20170290601A1 | 2017-10-12 |
Attorney, Agent or Firm:
INABA, Yoshiyuki et al. (JP)
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