Patent ID: 9126338
Filing Date: 2015-09-08
Classification: B25J,G05B,G05D

Abstract:
1. A method of driving a robot, the method comprising: obtaining scan data which includes information about at least one of a coordinate and a direction of the robot; estimating a plurality of location changes of the robot by matching a plurality of consecutive scan data pairs of the obtained scan data; generating a path of the robot by connecting the estimated location changes; generating a plurality of extension lines, each comprising an instantaneous center of rotation (ICR) from a rotation axis of the robot at each position on the generated path; estimating the position of a corrected ICR at a point of the closest distance from the plurality of extension lines; generating a corrected circle having the center at the position of the corrected ICR; and correcting the plurality of consecutive scan data pairs so that the robot may rotate with respect to the corrected circle.