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1.发明申请公开(公告)号：US20200298403A1
公开(公告)日：2020-09-24
申请号：US16089282
申请日：2017-03-27
申请人： COGNIBOTICS AB
发明人： Klas Nilsson , Adam Nilsson , Andreas Stolt , Olof Sornmo , Martin Holmstrand , Niklas Nilsson
摘要： A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non-geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.
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2.发明授权公开(公告)号：US11192243B2
公开(公告)日：2021-12-07
申请号：US16089282
申请日：2017-03-27
申请人： COGNIBOTICS AB
发明人： Klas Nilsson , Adam Nilsson , Andreas Stolt , Olof Sornmo , Martin Holmstrand , Niklas Nilsson
摘要： A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non-geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.
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