Method and system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot
US7979159B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Apr 30, 2008 |
| Grant date | Jul 12, 2011 |
| Priority date | — |
| Expiry date | Apr 30, 2028 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50036
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot (1) and a robot coordinate system. The method includes attaching a first calibration object (10) in a fixed relation to the robot and determining the position of the first calibration object in relation to the robot. Then, locating at least three second calibration objects (14,15,16) in the working range of the robot, a reference position for each of the second calibration objects in the local coordinate system can be determined by moving the robot until the first calibration object is in mechanical contact with each second calibration object. By reading the position of the robot when the calibration objects are in mechanical contact the relation between the local coordinate system and the robot coordinate system can be calculated.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.