Calibration method for coordinate system of robot manipulator
US9782899B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Apr 15, 2015 |
| Grant date | Oct 10, 2017 |
| Priority date | — |
| Expiry date | Apr 15, 2036 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/02
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A calibration method for a coordinate system of a workpiece held by a robot manipulator, which includes the following steps: setting a predicted coordinate system on the workpiece; controlling the drive mechanism to drive the workpiece to move a specific distance along a coordinate axis in the predicted coordinate system and measuring the distance change of the workpiece in a direction perpendicular to the move; using the measured distance change to determine an orientation error between the predicted coordinate system and the actual coordinate system; correcting the orientation parameters of the predicted coordinate system; controlling the drive mechanism to drive the workpiece to rotate by a specific angle around a coordinate axis of the predicted coordinate system and measuring the distance change after being rotated; using the measured distance change to determine a position error; correcting the position parameters of the predicted coordinate system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.