The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 12, 2022
Filed:
Nov. 19, 2019
Nidec Corporation, Kyoto, JP;
Vineet Jacob Kuruvilla, Singapore, SG;
Haruhiro Tsuneta, Kyoto, JP;
NIDEC CORPORATION, Kyoto, JP;
Abstract
A calibration apparatus of a robot that includes an arm, a joint attached to the arm, a motor provided to the joint, and a gear speed reducer provided between the motor and the joint includes setting circuitry that sets a destination position of the end of the arm in a predetermined three-dimensional space, acquiring circuitry that acquires an angle of the joint when the end of the arm is moved to the destination position, adjusting circuitry that adjusts the angle acquired by the acquiring circuitry in accordance with rotational angle transmission error in gears of the gear speed reducer, and correcting circuitry that corrects Denavit-Hartenberg (DH) parameters of the robot by using the angle adjusted by the adjusting circuitry.