Method and an apparatus for calibration of an industrial robot system
US8457786B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Nov 25, 2008 |
| Grant date | Jun 4, 2013 |
| Priority date | — |
| Expiry date | Jun 8, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/401
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
An industrial robot system has at least one robot (1) having a robot coordinate system (xr1, yr1, zr1) and a positioner (2) having a positioner coordinate system (xp, yp, zp) and adapted to hold and change orientation of a workpiece by rotating about a rotational axis. Target points for the robot are programmed with respect to an object coordinate system (xo1, yo1, zo1). A robot controller (3), at least three calibration objects (24a-c) arranged on the positioner, and a calibration tool (26) held by the robot are provided. The positions of the calibration objects are determined for at least three different angles of the rotational axis of the positioner, to determine the direction of the rotational axis of the positioner and relation between the object coordinate system and the positioner coordinate system by performing a best fit between known and determined positions of the calibration objects.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.