US 12,485,539 B2
Method and computing system for determining a value of an error parameter indicative of quality of robot calibration
Atilla Saadat Dehghan, Tokyo (JP); and Kei Usui, Tokyo (JP)
Assigned to MUJIN, INC., Tokyo (JP)
Filed by MUJIN, INC., Tokyo (JP)
Filed on Jun. 20, 2023, as Appl. No. 18/338,014.
Application 18/338,014 is a continuation of application No. 17/244,224, filed on Apr. 29, 2021, granted, now 11,717,966.
Claims priority of provisional application 63/021,089, filed on May 7, 2020.
Prior Publication US 2024/0009843 A1, Jan. 11, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B25J 9/06 (2006.01); B25J 9/12 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/06 (2013.01); B25J 9/12 (2013.01); B25J 9/1633 (2013.01); B25J 9/1692 (2013.01); B25J 13/085 (2013.01); B25J 9/1641 (2013.01); G05B 2219/37373 (2013.01); G05B 2219/39181 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computing system comprising:
a non-transitory computer-readable medium;
at least one processing circuit configured to perform the following when the non-transitory computer-readable medium is storing sensor data which includes: (i) a set of movement data indicative of an amount or rate of relative movement between a pair of immediately adjacent arm segments of a robot arm that is occurring or has occurred via a joint of the robot arm, and (ii) a set of actuation data indicative of overall torque or overall force at the joint in a time period during which the relative movement is occurring or has occurred;
determining, based on the set of movement data and the set of actuation data, at least one of: (i) a friction parameter estimate associated with friction between the pair of immediately adjacent arm segments, or (ii) a center of mass (COM) estimate associated with one of the pair of immediately adjacent arm segments;
determining actuation prediction data based on the sensor data and based on the at least one of: (i) the friction parameter estimate or (ii) the CoM estimate, wherein the actuation prediction data is a prediction which is indicative of the overall torque or overall force at the joint at different points in time;
determining residual data, which includes residual data values describing deviation between the actuation prediction data and the sensor data corresponding to the different points in time, respectively; and
determining, based on the residual data, a value for an error parameter which describes the residual data values.