Automatic calibration method for robot system
US10695910B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Feb 26, 2018 |
| Grant date | Jun 30, 2020 |
| Priority date | — |
| Expiry date | Jan 20, 2039 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/47
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An automatic calibration method for a robot system comprises providing a ball-rod member including a connection rod and a sphere connected to a first end of the connection rod, fixing an opposite second end of the connection rod to an end execution tool mounted on a flange of a robot, and controlling the robot to move a center of the sphere to a same target point in a plurality of different poses under the guidance of a vision sensor. A transformation matrix of the center of the sphere with respect to a center of the flange is calculated based on pose data of the robot at the same target point. A transformation matrix of a center of the end execution tool with respect to the center of the flange is calculated according to a formula.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.