Patent ID: 9731415
Date: 2017-08-15
CPC Classifications: A61B,B25J

Claim:
1. A method for the alignment of a multiaxial manipulator with an input device fixed onto an object, which input device serves to intuitively control the manipulator, comprising: a) executing one or more reference movements with the input device, the one or more reference movements defining a reference coordinate system of the input device; b) executing one or more corresponding reference movements with the manipulator by means of a direct guiding of the manipulator by hand, the one or more reference movements defining a reference coordinate system of the manipulator; c) recording the executed reference movements of the input device and the manipulator; d) calculating a transformation matrix based on the recorded reference movements of the input device and the manipulator; and e) using the calculated transformation matrix for the alignment of subsequent movements of the input device with corresponding movements of the manipulator.