Patent ID: 9302392
Filing Date: 2016-04-05
CPC Classification: B25J,G05B

Claim Text:
1. A method of controlling a mechanical articulated arm, wherein at least two tilt sensors are arranged at different positions of the articulated arm, the method comprising using a controller for: calibrating zero positions of the tilt sensors when the articulated arm does not have elastic deformation, setting positions of a tail end of the articulated arm to be a point P and a point P′ respectively before and after the elastic deformation, and selecting a point R at the articulated arm; using the tilt sensors to detect the angle values of the two different positions of the articulated arm before and after the elastic deformation, obtaining an angle offset Δθ of the articulated arm due to the elastic deformation, and calculating a length parameter La and an angle parameter θa of the articulated arm after the deformation based on the angle offset Δθ and the length values of OR and RP′; and obtaining the position parameters X wherein at least two tilt sensors are provided at different positions of the articulated arm by providing two or more tilt sensors at the head end and the tail end of each segment of the articulated arm, respectively; and using the tilt sensors to detect the angle values of the two different positions of the articulated arm before and after the elastic deformation and obtaining an angle offset Δθ of the articulated arm due to the elastic deformation comprises following steps: setting the angle values detected by the tilt sensors at the head end and the tail end of the articulated arm before the elastic deformation as θ setting the position of the head end of the articulated arm as point O, using the tilt sensors to respectively detect the angle values of point O and point P′ which are represented by θ