Patent Document ID: 4698572
Application ID: 06848437
Patent Status: 1

Claim One:
1. A method of identifying kinematic parameters of an n-degree of freedom manipulator having n-links and n-joints labeled link i and joint i for i-1. .. n, whereby the n.sup.th link is the link of the manipulator distal from the manipulator's base, and wherein controlled movement of said joints defines a manipulator work envelope; said method comprising the steps of: (A) defining a reference cartesian coordinate frame of a predefined working volume; (B) positioning said manipulator base in a fixed location relative to said reference coordinate frame wherein said manipulator work envelope is within said reference coordinate frame predefined working volume; (C) completing for each joint of the robot beginning with the n.sup.th joint (i.e., i=n, until i=1) the following operations: (a) defining a target relative to the i.sup.th link whereby incremental movement of the i.sup.th joint causes the synchronous movement of said target within said reference cartesian coordinate frame working volume; (b) measuring a cartesian position of said target for each of a plurality of incremental movements of said i.sup.th joint whereby the resultant locus of measured cartesian positions defines a circle centered about the axis of rotation on a plane perpendicular to the axis of rotation, for a revolute joint; and a line parallel to the axis of translation for a prismatic joint; (c) defining said plane on which said circle lies from said measured cartesian positions and the direction of a vector normal to said plane, said vector being parallel to the joint axis of rotation, for a revolute joint; (d) defining the center of said circle which lies on said axis of rotation from said measured cartesian positions, for a revolute joint; (e) detecting the line parallel to the line of translation, from said measured positions, for a prismatic joint; (f) establishing the cartesian position and orientation of a cartesian coordinate frame fixed relative to the i-1.sup.th link of the manipulator measured with respect to said reference coordinate frame based upon said center of said circle and vector normal for a revolute i.sup.th joint, or line of translation for prismatic i.sup.th joint.