| 摘要 |
A robot 1 comprising: a base 10; a flexible arm 11-16 extending from the base and having a plurality of joints 20-26, whereby the configuration of the arm can be altered, a plurality of drivers arranged to drive the joints to move, a plurality of sensors for sensing the position of each of the joints, an attachment structure 32 for attaching a tool 33 to the arm; and a control unit configured to control the drivers and to receive inputs from the sensors and operable in a calibration mode in which, whilst a tool 33 is attached to the attachment structure 32 and captive in a port 60, it (i) controls the drivers so as to permit the arm to be reconfigured by the action of an external force 64 applied to the arm; (ii) monitors the configuration of the arm under the presence of an external force applied to the arm and transmitted through the tool 33 to the port 62 so as to cause the attitude of the attachment structure to the base to alter; whereby the location of the port can be estimated. |
