ROBOT ANGULAR SETUP USING CURRENT FROM JOINTS

摘要

A method for aligning a robot includes connecting (402) a passive arm to a fixed position, and aligning (406) a remote center of motion (RCM) for a tool held by a manipulator arm with a target location. The manipulator arm is connected to the passive arm by a joint. The joint is immobilized (410) in a closed loop position control. A load on the joint is measured (411). The joint is aligned (412) with a vertical by adjusting a position of the passive arm until the load is minimized for the joint.