Calibration method for tool center point of a robot manipulator
US9002516B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Oct 10, 2012 |
| Grant date | Apr 7, 2015 |
| Priority date | — |
| Expiry date | Jul 11, 2033 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1692
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A calibration method for calibration a tool center point for a robot manipulator includes the steps of: driving the tool to move above one of the inclined surfaces; defining a preset coordinate system TG; rotating the TCP relative to the UG-axis by about 180 degrees, calculating the value of Δw; updating the position parameters of the preset TCP, defining a new preset coordinate system TG′; rotating the TCP relative to the UG′-axis by about 90 degrees, calculating the value of Δv; updating the position parameters of the new preset TCP, defining a new preset coordinate system TG″; driving the tool to move above a planar horizontal surface; rotating the TCP relative to a axis by about 30 degrees, calculating the value of Δu; repeating the aforementioned steps until the deviation ΔP (Δw, Δv, Δu) is less than or equal to a maximum allowable deviation of the robot manipulator.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.