Method and device for calibrating a sensor on an industrial robot
US4815006A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 16, 1987 |
| Grant date | Mar 21, 1989 |
| Priority date | — |
| Expiry date | Sep 16, 2007 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1692
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An industrial robot has a sensor mounted on a hand of the robot which senses the position of an object relative to the sensor. The sensor controls, during automatic operation of the robot, its movement in relation to the object, a robot control system determining the path of the robot in a robot coordinate system on the basis of measurement signals from the sensor. For calibration of the sensor, the sensor is automatically moved to a number of points connected to a calibration object with a known position in the robot coordinate system. At each point a number of measurements of the position of the object in relation to the sensor are made. On the basis of the measurements, those transformations are determined which transform the measurement signals of the sensor to the position of the measuring point in the robot coordinate system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.