Automatic calibration method for robot system

    公开(公告)号:US10695910B2

    公开(公告)日:2020-06-30

    申请号:US15904772

    申请日:2018-02-26

    IPC分类号: B25J9/16

    摘要: An automatic calibration method for a robot system comprises providing a ball-rod member including a connection rod and a sphere connected to a first end of the connection rod, fixing an opposite second end of the connection rod to an end execution tool mounted on a flange of a robot, and controlling the robot to move a center of the sphere to a same target point in a plurality of different poses under the guidance of a vision sensor. A transformation matrix of the center of the sphere with respect to a center of the flange is calculated based on pose data of the robot at the same target point. A transformation matrix of a center of the end execution tool with respect to the center of the flange is calculated according to a formula.

    Positioning Device
    97.
    发明申请
    Positioning Device 审中-公开

    公开(公告)号:US20190124804A1

    公开(公告)日:2019-04-25

    申请号:US16169241

    申请日:2018-10-24

    IPC分类号: H05K13/04 H05K13/00 H05K1/18

    摘要: A positioning device that has a support table, two pairs of sliding blocks slidably mounted in the support table, a positioning plate extending vertically at the top of each sliding block, a base on which the support table is supported, a cylinder in the base, a ball in the cylinder, a piston rod slidably mounted in the cylinder and pushing the ball to move upward in a vertical direction, so that the ball drives the two pairs of sliding blocks to move away from each other in the first horizontal direction and the second horizontal direction, respectively, until the positioning plates of the two pairs of sliding blocks abut against four inner walls of the opening of the circuit board, respectively, to allow the electronic device to be received in a positioning slot defined by the positioning plates, and a release mechanism that drives the piston rod to move downward in the vertical direction to allow the two pairs of sliding blocks to be moved toward each other in the first horizontal direction and the second horizontal direction, so that the positioning plates drive the electronic device in the positioning slot to move toward a center of the opening.