Method and control arrangement for determining a relation between a robot coordinate system and a movable apparatus coordinate system

US12036663B2 · kind B2 · utility

Assignee

• ABB Schweiz AG · CH

Inventors

• Michael Stenbacka · Västerås, SE
• Miguel Fernandez · Los Chicanos, ES

Key dates

• Filing date: Mar 25, 2019
• Grant date: Jul 16, 2024
• Expiry date: Mar 21, 2040

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/30244
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method and a control arrangement for determining a relation R↔MA between a robot coordinate system of a robot and an MA coordinate system of a moveable apparatus, the movable apparatus including a sensor device and a localization mechanism configured to localize a sensor coordinate system of the sensor device in the MA coordinate system, wherein a marker is arranged in a fixed relation with a reference location on the robot. The method includes positioning the marker in a plurality of different poses in relation to the robot coordinate system. For each pose of the plurality of different poses, the method includes: determining, on the basis of sensor information, a relation C↔M between the sensor coordinate system and a marker coordinate system; determining a relation MA↔C between the MA coordinate system and the sensor coordinate system; determining a relation R↔E between the robot coordinate system and a reference location coordinate system. The method also includes determining the relation R↔MA using the relation C↔M, the relation MA↔C, and the relation R↔E, in the plurality of different poses.