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. 29, 2025
Filed:
Nov. 04, 2020
Intrinsic Innovation Llc, Mountain View, CA (US);
Dirk Holz, Mountain View, CA (US);
Intrinsic Innovation LLC, Mountain View, CA (US);
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for calibrating a robotic workcell. One of the methods includes obtaining an initial model of a workcell having a plurality of calibration entities including a plurality of robots and a plurality of sensors configured to observe movements by one or more calibration entities. executing a calibration program that generates movement data representing movements by the plurality of robots. A plurality of different constraint pairs are generated from sensor data, the constraint pairs specifying a relationship between poses of calibration entities that are observed in different coordinate frames each defined by a calibration entity and is represented in the sensor data. One or more optimization processes are performed on the plurality of different constraint pairs to generate a plurality of calibration values.