Method for the Alignment of a Multiaxial Manipulator with an Input Device

摘要

A method is provided for the alignment of a multiaxial manipulator with an input device, which serves to control the manipulator, which method includes the steps of execution of one or more reference movements with the input device, execution of one or more reference movements with the manipulator, recording of the executed reference movements, calculation of a transformation matrix based on the recorded reference movements, and use of the calculated transformation matrix for the alignment of the movements of the input device with the manipulator.

主权项

1. A method for the alignment of a multiaxial manipulator with an input device, fixed onto an object, which input device serves to intuitively control the manipulator, comprising:
a) executing one or more reference movements with the input device; b) executing one or more corresponding reference movements with the manipulator by means of a direct guiding of the manipulator by hand; c) recording the executed reference movements; d) calculating a transformation matrix based on the recorded reference movements; and E) using the calculated transformation matrix for the alignment of the movements of the input device with the manipulator.