Invention Grant
US07979159B2 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
有权
用于确定机器人坐标系和位于机器人的工作范围内的局部坐标系之间的关系的方法和系统
- Patent Title: 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
- Patent Title (中): 用于确定机器人坐标系和位于机器人的工作范围内的局部坐标系之间的关系的方法和系统
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Application No.: US12936520Application Date: 2008-04-30
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Publication No.: US07979159B2Publication Date: 2011-07-12
- Inventor: Peter Fixell
- Applicant: Peter Fixell
- Applicant Address: SE Vasteras
- Assignee: ABB Technology AB
- Current Assignee: ABB Technology AB
- Current Assignee Address: SE Vasteras
- Agency: Seppo Laine Oy
- International Application: PCT/EP2008/055304 WO 20080430
- International Announcement: WO2009/132703 WO 20091105
- Main IPC: G05B19/401
- IPC: G05B19/401 ; B25J9/02
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.
Public/Granted literature
Information query
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