METHOD OF CALIBRATING KINEMATIC PARAMETERS OF MULTI-DEGREE MANIPULATORS Russian patent published in 2020 - IPC B25J9/16 

FIELD: robotics.

SUBSTANCE: invention relates to robotics and can be used in refining geometric parameters of links of multi-degree manipulators, in particular, industrial, underwater and collaborative. To estimate parameters manually, tool with different orientation is directed to arbitrary fixed point of space. Extreme point position is visually monitored by means of a pointed part and a set of calibration data is formed. Then the tool extreme point position vector is evaluated in the second coordinate system and an initial estimate of the manipulator kinematic parameters is generated. Value of quality criterion describing spread of estimates of positions of extreme point of the tool, calculated using initial estimation of manipulator kinematic parameters relative to fixed point, is calculated. Iterative procedure of calculating estimates of manipulator kinematic parameters is then performed.

EFFECT: higher accuracy of multi-degree manipulator tool positioning.

1 cl, 1 dwg