公开(公告)号：US20240342914A1

公开(公告)日：2024-10-17

申请号：US18751797

申请日：2024-06-24

Applicant: ABB Schweiz AG

Inventor： René Kirsten ,  Nima Enayati ,  Arne Wahrburg ,  Mikael Norrlöf ,  Morten Akerblad

IPC: B25J9/16

CPC classification number: B25J9/1679 ,  B25J9/1661

Abstract: A method for modeling a working environment of a robot comprising providing a robot having a base, a reference point, a plurality of links by which the reference point is movably connected to the base, and sensors for detecting positions of or angles between the links, providing a controller adapted to associate a position of the reference point to detected positions or angles between of the links, installing the base in a working environment which is delimited by at least one surface, moving the reference point to at least one sample point of the at least one surface, determining the position of the sample point from positions of or angles between the links detected while the reference point is at the sample point, and inferring the position of the surface from the determined position.