公开(公告)号：US20140343727A1

公开(公告)日：2014-11-20

申请号：US13895339

申请日：2013-05-15

申请人： New River Kinematics, Inc.

发明人： Joseph M. Calkins ,  Robert J. Salerno

IPC分类号： G05B19/418

CPC分类号： B25J9/1692 ,  G05B2219/39019 ,  G05B2219/39031

摘要： In an example embodiment, a robot positioning device includes a first interface configured to communicate with a robot and a second interface configured to communicate with a location measuring system. The robot positioning device includes a calibrator, a modeler, and an instructor. The calibrator is configured to direct the location measuring system to determine robot calibration locations when robot joints are positioned in calibration joint positions. The modeler is configured to create a calibrated model relating robot joint positions to robot locations based at least in part on the robot calibration locations received from the location measuring system and associated calibration joint positions of the robot joints. The instructor is configured to receive a goal location from the robot. The instructor is further configured to transmit goal joint positions to the robot, the goal joint positions based at least in part on the goal location and the calibrated model.

摘要翻译： 在示例性实施例中，机器人定位设备包括被配置为与机器人通信的第一接口和被配置为与位置测量系统通信的第二接口。 机器人定位装置包括校准器，建模器和教练。 校准器被配置为引导位置测量系统以在机器人关节定位在校准关节位置时确定机器人校准位置。 建模器被配置成至少部分地基于从位置测量系统接收的机器人校准位置和机器人关节的相关联的校准关节位置来创建将机器人关节位置与机器人位置相关联的校准模型。 教练被配置为从机器人接收目标位置。 导师进一步被配置成至少部分地基于目标位置和校准模型将目标关节位置发送到机器人，目标关节位置。

公开(公告)号：US09452533B2

公开(公告)日：2016-09-27

申请号：US13895339

申请日：2013-05-15

申请人： New River Kinematics, Inc.

发明人： Joseph M. Calkins ,  Robert J. Salerno

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  G05B2219/39019 ,  G05B2219/39031

摘要： In an example embodiment, a robot positioning device includes a first interface configured to communicate with a robot and a second interface configured to communicate with a location measuring system. The robot positioning device includes a calibrator, a modeler, and an instructor. The calibrator is configured to direct the location measuring system to determine robot calibration locations when robot joints are positioned in calibration joint positions. The modeler is configured to create a calibrated model relating robot joint positions to robot locations based at least in part on the robot calibration locations received from the location measuring system and associated calibration joint positions of the robot joints. The instructor is configured to receive a goal location from the robot. The instructor is further configured to transmit goal joint positions to the robot, the goal joint positions based at least in part on the goal location and the calibrated model.

摘要翻译： 在示例性实施例中，机器人定位设备包括被配置为与机器人通信的第一接口和被配置为与位置测量系统通信的第二接口。 机器人定位装置包括校准器，建模器和教练。 校准器被配置为引导位置测量系统以在机器人关节定位在校准关节位置时确定机器人校准位置。 建模器被配置成至少部分地基于从位置测量系统接收的机器人校准位置和机器人关节的相关联的校准关节位置来创建将机器人关节位置与机器人位置相关联的校准模型。 教练被配置为从机器人接收目标位置。 导师进一步被配置成至少部分地基于目标位置和校准模型将目标关节位置发送到机器人，目标关节位置。