公开(公告)号：US11207781B2

公开(公告)日：2021-12-28

申请号：US16674916

申请日：2019-11-05

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  B25J11/00 ,  G05B19/401 ,  G05B19/414

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US20180126557A1

公开(公告)日：2018-05-10

申请号：US15719243

申请日：2017-09-28

Applicant: ABB Schweiz AG

Inventor： HAO GU ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G05B19/401 ,  G05B19/414 ,  G06F3/041

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US10786904B2

公开(公告)日：2020-09-29

申请号：US15719243

申请日：2017-09-28

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G06F3/041 ,  B25J11/00 ,  G05B19/401 ,  G05B19/414

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US20200061837A1

公开(公告)日：2020-02-27

申请号：US16674916

申请日：2019-11-05

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G06F3/041 ,  G05B19/401 ,  B25J11/00

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen, (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.