Method for calibrating tool centre point for industrial robot system
US10160116B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 30, 2016 |
| Grant date | Dec 25, 2018 |
| Priority date | — |
| Expiry date | Aug 30, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39025
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method is disclosed for calibrating a tool center point of tool for an industrial robot system. The method can include moving a first part of said tool and a cross beam sensor by said industrial robot; recording a first posture and a second posture of said industrial robot during the interruptions of a first beam and a second beam of a cross beam sensor; moving a second part of said tool and said cross beam sensor by said industrial robot; recording a third posture and a fourth posture of said industrial robot; calculating the tool orientation in consideration of said first posture, second posture, third posture and fourth posture of said industrial robot; and moving said tool and said cross beam sensor by said industrial robot so that said tool center point of said tool interrupts said crossing point of said cross beam sensor.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.