Method for calibrating and programming of a robot application

US6822412B1 · kind B1 · utility

Inventors

• Zhongxue Gan · Storrs, US
• Gregory F. Rossano · Enfield, US
• Xiongzi Li · Town of West Hartford, US
• Yunquan Sun · Storrs, US
• Quing Tang · Granby, US
• Torgny Brogardh
• Håkan Brantmark · Hagfors, SE

Key dates

• Filing date: Jun 11, 2003
• Grant date: Nov 23, 2004
• Expiry date: Jun 11, 2023

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/39022
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method for programming of a robot application comprising an industrial robot having a robot coordinate system, a tool having a tool coordinate system and a work object (3) to be processed by the tool. The application is programmed by means of a position-measuring unit (15) adapted for measuring positions relative a measuring coordinate system (db). The programming method comprises: selecting an object reference structure (25) on the object, defining a mathematical model for the object reference structure, defining an object coordinate system (o2), providing measurements by the position-measuring unit on the surface of the object reference structure, determining the object coordinate system in relation to the measuring coordinate system (db) by best fit between said measurements and said mathematical model of the object reference structure.