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1. 发明授权

US07979160B2 System and method for robotic accuracy improvement 有权
标题翻译：机器人精度提高的系统和方法
公开(公告)号：US07979160B2
公开(公告)日：2011-07-12
申请号：US12183900
申请日：2008-07-31
申请人： Kris K Teaford , Curtis A. Richardson
发明人： Kris K Teaford , Curtis A. Richardson
IPC分类号： G06F19/00 , B25J19/00 , B25J19/02
CPC分类号： B25J9/1641 , G05B2219/37263 , G05B2219/39176 , G05B2219/40596
摘要： A system and method for sensing and compensating for unintended joint movement of a robotic arm caused by application of a load. The system may have a plurality of external encoders each in intimate contact with an external edge portion of one of a plurality of robotic arm joints to sense joint movement caused by application of the load, and a computing device configured for calculating a compensation amount based on the sensed joint movement and sending the calculated compensation amount to a corresponding robot motor encoder to correct the position of the joint by the compensation amount. The method may comprise applying the load one portion at a time, such that a portion of the load is applied, the compensation amount is calculated, the position of the joint is corrected, and then the process repeats, with another portion of the load applied to the robotic arm.
摘要翻译：一种用于感测和补偿由施加负载引起的机器人手臂的意外关节运动的系统和方法。该系统可以具有多个外部编码器，每个外部编码器与多个机器人臂关节之一的外部边缘部分紧密接触，以感测由施加负载引起的关节运动;以及计算装置，被配置为基于检测到的关节运动，并将计算出的补偿量发送到对应的机器人电动机编码器，以将接头的位置校正补偿量。该方法可以包括一次施加负载一部分，使得施加负载的一部分，计算补偿量，修正关节的位置，然后在施加负载的另一部分的情况下重复该过程到机器人手臂。

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