Patent ID: 8369993
Filing Date: 2013-02-05
Classification: B25J,G05B

Abstract:
1. A method of positionally calibrating a tip of an arm of a manipulated type of robot by using a computer, the arm tip being defined as a tip of a tool held by the arm, comprising steps of: calculating with the computer, at a plurality of positions at which the arm tip is moved, n pieces of errors (Δφ: Δφ calculating an inter-error difference (Δε making a parameter, which is a basis for calculating the inter-error differences (Δε wherein the converging step further includes steps of: calculating a Jacobian determinant (J) for parameter matrices (q, θ), wherein (q) is a matrix of the parameters arid θ is a matrix of angles of respective axes of the arm, calculating an error matrix (Δq) of the parameter matrix q based on a product of an inter-error difference (Δε updating the parameter matrix (q) by adding the error matrix (Δq) to the parameter matrix (q), and re-calculating the position of the arm tip depending on the updated parameter matrix (q), so that the parameter matrix (q) is made to converge so as to calibrate the position of the arm tip.