Patent ID: 8890875
Filing Date: 2014-11-18
Classification: B25J

Abstract:
1. A method for reproducing a movement, in a reference frame, of an articulated structure consisting of a plurality of segments articulated with respect to each other, at least two of the segments each being provided with a measurement sensor, said method comprising: reconstructing state parameters of said articulated structure, said state parameters describing the movement of said articulated structure; using a prediction model to provide an estimation of the state parameters at time t as a function of state parameters at time t−1; providing estimations of measurements of each measurement sensor using said estimation of the state parameters at time t and pre-stored sensor parameter data including drift, offset and sensitivity for each measurement sensor; providing estimated differences of said state parameters, using a minimization algorithm, which minimizes an error between said estimations of the measurements generated using the estimation of the state parameters at time t and the pre-stored sensor parameter data and real measurement data; and adding said estimated differences of the state parameters to said estimation of state parameters to provide updated state parameters at time t, wherein estimations of measurements of at least one measurement sensor related to a segment include cross terms involving at least one state parameter of a segment different from the segment that includes said measurement sensor, said minimization algorithm processing simultaneously the state parameters and the cross terms.