公开(公告)号：US20200019136A1

公开(公告)日：2020-01-16

申请号：US16584090

申请日：2019-09-26

Applicant: ABB Schweiz AG

Inventor： Cheng Li ,  Hao Gu ,  Jihuan Tian

IPC: G05B19/401 ,  B25J9/16

Abstract: The present disclosure relates to a method and apparatus for estimating a systematic error of a commissioning tool of an industrial robot, the industrial robot including an operational tool and an application camera, the commissioning tool including a touchscreen and a stylus, the method including: a driving step of driving the operational tool to rotate around a preset rotation axis; a first image obtaining step of obtaining a plurality of first images of the operational tool during rotation; and a first offset calculating step of calculating a first offset of the stylus relative to the operational tool according to the plurality of first images, so as to obtain the systematic error.