Method for Adjusting a Geometrical Model of a Multi-axis Robot Equipped with a Camera, Application for a Robot Applying a Coating Product, and Robot Configured to Implement Such a Method

Abstract: a geometrical model of a multi-axis robot equipped with a camera () comprises a first change matrix (t) and a second change matrix t)). a method for adjusting the model comprises: aiming (), with the camera arranged in a first location (k1), at at least two points among l points of the target; determining the coordinates (v) of each point aimed at; moving () the camera; d) aiming (), with the camera arranged in a second location (k2), at the same points (p); determining the coordinates (v) of each point aimed at; calculating (), for each point aimed at, a difference of the difference (v) between the coordinates nt in a base coordinate frame (bf), expressed in using the first and second change matrix (t, t); calculating () an overall difference value (f, g). variables (x-x, ��, �l, ��, �r) of coefficients of the first and second change matrices (t, t) are determined by minimizing () the overall value calculated during step g). the camera is successively brought into k locations. the product of the number (l) of points of the target by the number (k) of locations minus 6 (l*k−6) is greater than or equal to the number of variables of the geometrical model of the multi-axis robot.

Inventor(s): Didier Chevron, Juan Palacio, Nicolas Chouan

CPC Classification: B25J9/163 ({learning, adaptive, model based, rule based expert control})

Search for rejections for patent application number 20250178192