System for calibration of an industrial robot and a method thereof
US7756608B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Feb 21, 2006 |
| Grant date | Jul 13, 2010 |
| Priority date | — |
| Expiry date | Dec 9, 2026 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40267
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for calibration of an industrial robot including a plurality of movable links and a plurality of actuators effecting movement of the links and thereby of the robot. The method includes mounting a measuring tip on or in the vicinity of the robot, moving the robot such that the measuring tip is in contact with a plurality of measuring points on the surface of at least one geometrical structure on or in the vicinity of the robot, reading and storing the positions of the actuators for each measuring point, and estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.