公开(公告)号：US20080028824A1

公开(公告)日：2008-02-07

申请号：US11667480

申请日：2005-10-21

Applicant: Torgny Brogardh ,  Peter Fixell ,  Niklas Durinder

Inventor： Torgny Brogardh ,  Peter Fixell ,  Niklas Durinder

IPC: G12B13/00

CPC classification number: B25J9/1692 ,  G05B2219/39007

Abstract: A method for calibration of an industrial robot having a plurality of sections movably connected to each other for rotation about a plurality of movement axes. An angle measuring member is mounted on the robot so that it measures angular changes of the axis or axes to be calibrated, relative to a vertical line. A reference direction is measured. At least one of the axes is selected as a calibration axis and another of the axes is selected as a measuring axis. The robot is moved between at least two calibration positions. The moving includes rotating the robot about the measuring axis. The calibration positions are selected such that the direction of the calibration axis differs from the vertical line. Angular values are read from the angle measuring member in the calibration positions. The calibration axis are calibrated based on the angular values and the measured reference direction.

Abstract translation: 一种用于校准具有多个部分的工业机器人的方法，所述多个部分彼此可移动地连接以围绕多个运动轴线旋转。 角度测量部件安装在机器人上，以便相对于垂直线测量要校准的轴或轴的角度变化。 测量参考方向。 选择至少一个轴作为校准轴，另一个轴被选为测量轴。 机器人在至少两个校准位置之间移动。 移动包括围绕测量轴旋转机器人。 选择校准位置，使得校准轴的方向与垂直线不同。 在校准位置从角度测量构件读取角度值。 基于角度值和测量的参考方向校准校准轴。

公开(公告)号：US07979159B2

公开(公告)日：2011-07-12

申请号：US12936520

申请日：2008-04-30

Applicant: Peter Fixell

Inventor： Peter Fixell

IPC: G05B19/401 ,  B25J9/02

CPC classification number: B25J9/1692 ,  G05B19/4015 ,  G05B2219/39021 ,  G05B2219/50026 ,  G05B2219/50036

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.

Abstract translation: 本发明涉及一种用于确定位于工业机器人（1）的工作范围内的局部坐标系与机器人坐标系之间的关系的方法和系统。 该方法包括将固定关系中的第一校准对象（10）附接到机器人并且确定第一校准对象相对于机器人的位置。 然后，在机器人的工作范围内定位至少三个第二校准对象（14,15,16），可以通过移动机器人来确定局部坐标系中每个第二校准对象的参考位置，直到第一校准 物体与每个第二校准对象机械接触。 通过读取机器人的位置，当校准对象进行机械接触时，可以计算出局部坐标系与机器人坐标系之间的关系。

公开(公告)号：US20110046782A1

公开(公告)日：2011-02-24

申请号：US12936520

申请日：2008-04-30

Applicant: Peter Fixell

Inventor： Peter Fixell

IPC: B25J9/02

CPC classification number: B25J9/1692 ,  G05B19/4015 ,  G05B2219/39021 ,  G05B2219/50026 ,  G05B2219/50036

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 comprises: attaching a first calibration object (10) in a fixed relation to the robot, determining the position of the first calibration object in relation to the robot, locating at least three second calibration objects (14, 15, 16) in the working range of the robot, wherein at least one of the calibration objects is a male calibration object having a protruding part shaped as a sphere, and at least one of the calibration objects is a female calibration object comprising at least two nonparallel, inclining surfaces arranged to receive the sphere so that the sphere is in contact with the surfaces in at least one reference position, determining a reference position for each of the second calibration objects in the local coordinate system, for each second calibration object moving the robot until the sphere is in mechanical contact with the surfaces of the calibration object, reading the position of the robot when the sphere is in mechanical contact with all of the surfaces, and calculating the relation between the local coordinate system and the robot coordinate system based on the position of the first calibration object in relation to the robot, the reference positions of the second calibration objects in the local coordinate system, and the positions of the robot when the sphere is in mechanical contact with the surfaces of the second calibration objects.

Abstract translation: 本发明涉及一种用于确定位于工业机器人（1）的工作范围内的局部坐标系与机器人坐标系之间的关系的方法和系统。 该方法包括：将第一校准物体（10）以固定关系附接到机器人，确定第一校准物体相对于机器人的位置，将至少三个第二校准物体（14,15,16）定位在 所述机器人的工作范围，其中所述校准对象中的至少一个是具有形状为球体的突出部分的雄性校准对象，并且所述校准对象中的至少一个是母校准对象，所述母校准对象包括至少两个不平行的倾斜表面， 接收球体使得球体与至少一个参考位置中的表面接触，确定用于局部坐标系中的每个第二校准物体的参考位置，对于移动机器人的每个第二校准物体，直到球体为 与校准对象的表面机械接触时，当球体与所有表面机械接触时读取机器人的位置，a 基于第一校准对象相对于机器人的位置，局部坐标系中的第二校准对象的参考位置和机器人的位置来计算局部坐标系和机器人坐标系之间的关系 球体与第二校准物体的表面机械接触。