Method and device for estimating the parameters of the geometric model of a manipulator

Abstract

Abstract The device serves to estimate the parameters of the geometrical model of a robot comprising a grasping member (11) connected to a mount (12) by kinematic links moved by actuators (M1, M2, M3) driven by a processor (16) receiving information issuing from sensors (17, 18, 19) associated with the said links. It comprises detection means in a series of measuring sites (P1 to Pn) involving a sphere (S1) carried by the said member (11) and a measuring device which can be mounted on a plurality of assembly means provided on a base, which correspond to the said sites and whose coordinates have previously been determined. The processor (16) estimates the parameters from information furnished by the sensors (17, 18, 19) for all the measuring sites (P1 to Pn). The invention permits evaluation of the abovementioned parameters under conditions as close as possible to those under which the robot will have to operate. <IMAGE>

Inventors

• 👤 Philippe Charles
• 👤 Alain Guillier
• 👤 Philippe Hampikian
• 👤 Christian Thurel

Bibliographic Details