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1. (WO2017167687) METHOD, CONSTRAINING DEVICE AND SYSTEM FOR DETERMINING GEOMETRIC PROPERTIES OF A MANIPULATOR

Pub. No.:    WO/2017/167687    International Application No.:    PCT/EP2017/057187
Publication Date: Fri Oct 06 01:59:59 CEST 2017 International Filing Date: Tue Mar 28 01:59:59 CEST 2017
IPC: G05B 19/401
B25J 9/16
Applicants: COGNIBOTICS AB
Inventors: NILSSON, Klas
NILSSON, Adam
STOLT, Andreas
SÖRNMO, Olof
HOLMSTRAND, Martin
NILSSON, Niklas
Title: METHOD, CONSTRAINING DEVICE AND SYSTEM FOR DETERMINING GEOMETRIC PROPERTIES OF A MANIPULATOR
Abstract:
A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non- geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.