公开(公告)号：US20180354137A1

公开(公告)日：2018-12-13

申请号：US16061237

申请日：2016-02-02

Applicant: ABB Schweiz AG

Inventor： Daniel Sirkett ,  Jeremy Pouech ,  Peter Fransson

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  G05B2219/40611

Abstract: A method for calibrating a robot system having a planar pick surface includes: bringing a robot gripper to a first location against the pick surface; and generating a first image of the robot gripper from below. When knowing that a certain identifiable part of the robot gripper in images always lies against the planar pick surface, the position and orientation of the pick surface in relation to a manipulator coordinate frame can be fully defined if the robot gripper's orientation in relation to the pick surface is known, or if there are images on identifiable parts of the robot gripper in at least three different positions against the pick surface.

公开(公告)号：US20180345483A1

公开(公告)日：2018-12-06

申请号：US15778963

申请日：2015-12-03

Applicant: ABB Schweiz AG

Inventor： Daniel Sirkett ,  Jeremy Pouech ,  Peter Fransson

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/1697

Abstract: A method for teaching an industrial robot to pick parts includes the steps of: placing a reference part on a picking surface; providing a reference image including information about the reference part; placing a gripping tool of the industrial robot in relation to the reference part so that the gripping tool is in a grasp configuration in relation to the reference part; and storing the grasp configuration. The reference image is a 2D image from below. When the reference part is resting on a known plane a 2D image taken from below is enough for defining the position of the same.

公开(公告)号：US11230011B2

公开(公告)日：2022-01-25

申请号：US16061237

申请日：2016-02-02

Applicant: ABB Schweiz AG

Inventor： Daniel Sirkett ,  Jeremy Pouech ,  Peter Fransson

IPC: B25J9/16

Abstract: A method for calibrating a robot system having a planar pick surface includes: bringing a robot gripper to a first location against the pick surface; and generating a first image of the robot gripper from below. When knowing that a certain identifiable part of the robot gripper in images always lies against the planar pick surface, the position and orientation of the pick surface in relation to a manipulator coordinate frame can be fully defined if the robot gripper's orientation in relation to the pick surface is known, or if there are images on identifiable parts of the robot gripper in at least three different positions against the pick surface.

公开(公告)号：US10899001B2

公开(公告)日：2021-01-26

申请号：US15778963

申请日：2015-12-03

Applicant: ABB Schweiz AG

Inventor： Daniel Sirkett ,  Jeremy Pouech ,  Peter Fransson

IPC: B25J9/16 ,  B25J9/00

Abstract: A method for teaching an industrial robot to pick parts includes the steps of: placing a reference part on a picking surface; providing a reference image including information about the reference part; placing a gripping tool of the industrial robot in relation to the reference part so that the gripping tool is in a grasp configuration in relation to the reference part; and storing the grasp configuration. The reference image is a 2D image from below. When the reference part is resting on a known plane a 2D image taken from below is enough for defining the position of the same.