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US09248573B2 Calibration and programming of robots 有权
机器人的校准和编程

Calibration and programming of robots
Abstract:
The invention pertains to a method of calibrating robots without the use of external measurement equipment. The invention furthermore pertains to a method of copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.
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