Kinematic parameter identification for robotic manipulators

Claim 1

A method of identifying kinematic parameters of an n-degree of freedom manipulator having n-links and n-joints labeled link i and joint i for i-1 . . . n, whereby the n th link is the link of the manipulator distal from the manipulator's base, and wherein controlled movement of said joints defines a manipulator work envelope; said method comprising the steps of: (A) defining a reference cartesian coordinate frame of a predefined working volume; (B) positioning said manipulator base in a fixed location relative to said reference coordinate frame wherein said manipulator work envelope is within said reference coordinate frame predefined working volume; (C) completing for each joint of the robot beginning with the n th joint (i.e., i=n, until i=1) the following operations: (a) defining a target relative to the i th link whereby incremental movement of the i th joint causes the synchronous movement of said target within said reference cartesian coordinate frame working volume; (b) measuring a cartesian position of said target for each of a plurality of incremental movements of said i th joint whereby the resultant locus of measured cartesian positions defines a circle centered about the axis of rotation on a plane perpendicular to the axis of rotation, for a revolute joint; and a line parallel to the axis of translation for a prismatic joint; (c) defining said plane on which said circle lies from said measured cartesian positions and the direction of a vector normal to said plane, said vector being parallel to the joint axis of rotation, for a revolute joint; (d) defining the center of said circle which lies on said axis of rotation from said measured cartesian positions, for a revolute joint; (e) detecting the line parallel to the line of translation, from said measured positions, for a prismatic joint; (f) establishing the cartesian position and orientation of a cartesian coordinate frame fixed relative to the i-1 th link of the manipulator measured with respect to said reference coordinate frame based upon said center of said circle and vector normal for a revolute i th joint, or line of translation for prismatic i th joint.

Claim 2

A method of identifying kinematic parameters of an n-degree of freedom manipulator having n-links and n-joints labeled link i and joint i for i-1 . . . n, whereby the n th link is the link of the manipulator distal from the manipulator's base, and wherein controlled movement of said joints defines a manipulator work envelope; said method comprising the steps of: (A) defining a reference cartesian coordinate frame of a predefined working volume; (B) positioning said manipulator base in a fixed location relative to said reference coordinate frame wherein said manipulator work envelope is within said reference coordinate frame predefined working volume; (C) completing for each joint of the robot beginning with the n th joint (i.e., i=n, until i=1) the following operations: (a) defining a target relative to the i th link whereby incremental movement of the i th joint causes the synchronous movement of said target within said reference cartesian coordinate frame working volume; (b) measuring a cartesian position of said target for each of a plurality of incremental movements of said i th joint whereby the resultant locus of measured cartesian positions defines a circle centered about the axis of rotation on a plane perpendicular to the axis of rotation, for a revolute joint; and a line parallel to the axis of translation for a prismatic joint; (c) defining said plane on which said circle lies from said measured cartesian positions and the direction of a vector normal to said plane, said vector being parallel to the joint axis of rotation, for a revolute joint; (d) defining the center of said circle which lies on said axis of rotation from said measured cartesian positions, for a revolute joint; (e) detecting the line parallel to the line of translation, from said measured positions, for a prismatic joint; (f) establishing the cartesian position and orientation of a cartesian coordinate frame fixed relative to the i-1 th link of the manipulator measured with respect to said reference coordinate frame based upon said center of said circle and vector normal for a revolute i th joint, or line of translation for prismatic i th joint.

Claim 4

A method of identifying kinematic parameters of an n-degree of freedom manipulator having n-links and n-joints labeled link i and joint i for i=1 . . . n, whereby the n th link is the link of the manipulator distal from the manipulator's base, and wherein controlled movement of said joints defines a manipulator work envelope; said method comprising the steps of: (A) defining a reference cartesian coordinate frame of a predefined working volume; (B) positioning said manipulator base in a fixed location relative to said reference coordinate frame wherein said manipulator work envelope is within said reference coordinate frame predefined working volume; (C) completing for each joint of the robot beginning with the n th joint (i.e., i=n, until i=1) the following operations: (a) defining a target relative to the i th link whereby incremental movement of the i th joint causes the synchronous movement of said target within said reference cartesian coordinate frame working volume; (b) measuring a cartesian position of said target for each of a plurality of incremental movements of said i th joint whereby the resultant locus of measured cartesian positions defines a circle centered about the axis of rotation on a plane perpendicular to the axis of rotation, for a revolute joint; (c) defining said plane on which said circle lies from said measured cartesian positions and the direction of a vector normal to said plane, said vector being parallel to the joint axis of rotation, for a revolute joint; (d) defining the center of said circle which lies on said axis of rotation from said measured cartesian positions, for a revolute joint; and (e) establishing the cartesian position and orientation of a cartesian coordinate frame fixed relative to the i-1 th link of the manipulator measured with respect to said reference coordinate frame based upon said center of said circle and vector normal for a revolute i th joint.

Claim 5

A method of identifying kinematic parameters of an n-degree of freedom manipulator having n-links and n-joints labeled link i and joint i for i=1 . . . n, whereby the n th link is the link of the manipulator distal from the manipulator's base, and wherein controlled movement of said joints defines a manipulator work envelope; said method comprising the steps of: (A) defining a reference cartesian coordinate frame of a predefined working volume; (B) positioning said manipulator base in a fixed location relative to said reference coordinate frame wherein said manipulator work envelope is within said reference coordinate frame predefined working volume; (C) completing for each joint of the robot beginning with the n th joint (i.e., i=n, until i=1) the following operations: (a) defining a target relative to the i th link whereby incremental movement of the i th joint causes the synchronous movement of said target within said reference cartesian coordinate frame working volume; (b) measuring a cartesian position of said target for each of a plurality of incremental movements of said i th joint whereby the resultant locus of measured cartesian positions defines a circle centered about the axis of rotation on a plane perpendicular to the axis of rotation, for a revolute joint; (c) defining said plane on which said circle lies from said measured cartesian positions and the direction of a vector normal to said plane, said vector being parallel to the joint axis of rotation, for a revolute joint; (d) defining the center of said circle which lies on said axis of rotation from said measured cartesian positions, for a revolute joint; and (e) establishing the cartesian position and orientation of a cartesian coordinate frame fixed relative to the i-1 th link of the manipulator measured with respect to said reference coordinate frame based upon said center of said circle and vector normal for a revolute i th joint.

Claim 7

A method of identifying kinematic parameters of an n-degree of freedom manipulator having n-links and n-joints labeled link i and joint i for i=1 . . . n, whereby the n th link is the link of the manipulator distal from the manipulator's base, and wherein controlled movement of said joints defines a manipulator work envelope; said method comprising the steps of: (A) defining a reference cartesian coordinate frame of a predefined working volume; (B) positioning said manipulator base in a fixed location relative to said reference coordinate frame wherein said manipulator work envelope is within said reference coordinate frame predefined working volume; (C) completing for each joint of the robot beginning with the n th joint (i.e., i=n, until i=1) the following operations: (a) defining a target relative to the i th link whereby incremental movement of the i th joint causes the synchronous movement of said target within said reference cartesian coordinate frame working volume; (b) measuring a cartesian position of said target for each of a plurality of incremental movements of said i th joint whereby the resultant locus of measured cartesian positions defines a line parallel to the axis of translation for a prismatic joint; (c) detecting the line parallel to the line of translation, from said measured positions, for a prismatic joint; (d) establishing the cartesian position and orientation of a cartesian coordinate frame fixed relative to the i-1 th link of the manipulator measured with respect to said reference coordinate frame based upon said center of said circle and vector normal for a revolute i th joint, or line of translation for prismatic i th joint.

Claim 8

A method of identifying kinematic parameters of an n-degree of freedom manipulator having n-links and n-joints labeled link i and joint i for i=1 . . . n, whereby the n th link is the link of the manipulator distal from the manipulator's base, and wherein controlled movement of said joints defines a manipulator work envelope; said method comprising the steps of: (A) defining a reference cartesian coordinate frame of a predefined working volume; (B) positioning said manipulator base in a fixed location relative to said reference coordinate frame wherein said manipulator work envelope is within said reference coordinate frame predefined working volume; (C) completing for each joint of the robot beginning with the n th joint (i.e., i=n, until i=1) the following operations: (a) defining a target relative to the i th link whereby incremental movement of the i th joint causes the synchronous movement of said target within said reference cartesian coordinate frame working volume; (b) measuring a cartesian position of said target for each of a plurality of incremental movements of said i th joint whereby the resultant locus of measured cartesian positions defines a line parallel to the axis of translation for a prismatic joint; (c) detecting the line parallel to the line of translation, from said measured positions, for a prismatic joint; (d) establishing the cartesian position and orientation of a cartesian coordinate frame fixed relative to the i-1 th link of the manipulator measured with respect to said reference coordinate frame based upon said center of said circle and vector normal for a revolute i th joint, or line of translation for prismatic i th joint.