Individual Denavit-Hartenberg parameters stored on the robot

摘要

Robot manipulator (1) with a variety of joints (3) connected to each other (5) and a storage unit (7),storing on the storage unit (7) the deviations of nominal dimensions and nominal zero positions of transformation sizes present on the individual robot manipulator (1), including length and/or angle of transformation sizes, which are used to represent the multiplicity of joints (3) and joints (5) in a complete kinematic chain with current joint angles, the storage unit (7) having an interface (9) for transmitting at least the stored deviations to a control unit (11) for the robot manipulator (1),so that any different control units can be connected successively to the robot manipulator (1) and a specific control unit (11) can control the robot manipulator (1) on the basis of the individual deviations at the robot manipulator (1).