SYSTEM AND METHOD FOR CALIBRATING KINEMATIC PARAMETERS OF ROBOTIC MANIPULATOR Russian patent published in 2023 - IPC B25J19/02 B23Q17/22 

FIELD: robotics.

SUBSTANCE: invention can be used in calibrating the kinematic parameters of manipulators. The method includes steps in which a conductive tool is installed on the final link of the manipulator, and a conductive flat surface is installed in the working area of the manipulator, which are configured to form an electrical circuit upon electrical contact between the tool and the flat surface, and these electrical contacts are provided at different points of this surface with different orientations of the manipulator links. By means of an electrical contact detection sensor included in the electrical circuit, the electrical contacts are recorded, transmitting corresponding signals to the manipulator control system, and at least one set of input calibration data is generated, including data on the angles of rotation of the manipulator links or changes in the position of the manipulator links. After this, using the input calibration data, the error functions of the estimates of the kinematic parameters of the manipulator are determined, reaching the minimum when the estimates coincide with the true kinematic parameters of the manipulator, and taking into account the received input calibration data, the refined kinematic parameters of the manipulator are determined.

EFFECT: improved accuracy of calibration and simplified process of its implementation.

4 cl, 1 dwg, 5 tbl