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:
Feb. 13, 2018
Filed:
Jun. 23, 2014
Abb Schweiz Ag, Baden, CH;
Ivan Lundberg, Västerås, SE;
ABB Schweiz AG, Baden, CH;
Abstract
A system for calibrating a robot having a movable part with a calibration marker including: positioning the calibration marker along an optical line of a camera unit; imaging the calibration marker along the optical line to establish line positions P. . . Pwithin a tolerance k, while monitoring joint values j. . . jof the robot; establishing an error function based on resulting calculated robot positions P'. . . P′, for the calibration marker for joint values j. . . jat each line position P. . . Pfor the calibration marker; identifying a set of robot kinematic parameters by solving an optimization problem based on the error function; and updating a kinematic model of the robot via the identified set of robot kinematic parameters.