Method for fine tuning of a robot program

US6836702B1 · kind B1 · utility

Assignee

• ABB AB · SE

Inventors

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

Key dates

• Filing date: Jun 11, 2003
• Grant date: Dec 28, 2004
• Expiry date: Jul 2, 2023

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/36407
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft′, Yft′, Zft′.