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公开(公告)号：US20220105640A1
公开(公告)日：2022-04-07
申请号：US17426888
申请日：2019-02-07
Applicant: ABB Schweiz AG
Inventor： Johan Noren , Sven Hanssen , Hans Andersson , Peter Fixell
Abstract: A method of calibrating a tool of an industrial robot, the method including positioning a tool center point of the tool in relation to a reference target in at least one calibration position of the robot; for each calibration position, recording a joint position of at least one joint of the robot; calculating tool data based on the at least one joint position in each calibration position and based on a kinematic model of the robot, the tool data including a definition of the tool center point; determining an error of the calculated tool data; and modifying at least one kinematic parameter of the robot based on the error to reduce the error. A control system for calibrating a tool of an industrial robot and an industrial robot including the control system, are also provided.
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公开(公告)号：US20240181646A1
公开(公告)日：2024-06-06
申请号：US18556276
申请日：2021-04-29
Applicant: ABB Schweiz AG
Inventor： Sven Hanssen , Hans Andersson , Johan Noren
CPC classification number: B25J9/1692 , B25J9/1682 , B25J13/085
Abstract: A method of calibrating a manipulator of an industrial robot, the method including providing a primary manipulator having one or more primary joints and a primary mounting interface; providing a secondary manipulator having one or more secondary joints and a secondary mounting interface, where the primary mounting interface is substantially rigidly connected to the secondary mounting interface; providing a load sensor between the primary mounting interface and the secondary mounting interface, the load sensor being configured to provide load data indicative of loads between the primary mounting interface and the secondary mounting interface; controlling the primary manipulator to adopt at least one calibration state; for each calibration state, recording a primary joint position of at least one primary joint; and calibrating the secondary manipulator based on the at least one recorded primary joint position; wherein the primary manipulator is controlled to adopt the at least one calibration state based on the load data; and/or wherein the calibration of the secondary manipulator is additionally made based on the load data.
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公开(公告)号：US12030197B2
公开(公告)日：2024-07-09
申请号：US17427221
申请日：2019-02-22
Applicant: ABB Schweiz AG
Inventor： Johan Noren , Hans Andersson , Sven Hanssen
IPC: B25J9/16 , B25J9/00 , G05B19/4155
CPC classification number: B25J9/1692 , B25J9/0051 , B25J9/1623 , G05B19/4155 , G05B2219/50391
Abstract: A method of calibrating a delta robot, the method including executing an arm movement by moving one driving link relative to other two driving links; measuring a movement of a point in fixed relationship with a tilting body during the arm movement as an arm measurement; executing a tilting movement by tilting the tilting body about a fifth axis; measuring a movement of the point during the tilting movement as a tilting measurement; and calibrating a fourth axis based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis, a control system, and a robot system are also provided.
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公开(公告)号：US20220097235A1
公开(公告)日：2022-03-31
申请号：US17427221
申请日：2019-02-22
Applicant: ABB Schweiz AG
Inventor： Johan Noren , Hans Andersson , Sven Hanssen
IPC: B25J9/16 , B25J9/00 , G05B19/4155
Abstract: A method of calibrating a delta robot, the method including executing an arm movement by moving one driving link relative to other two driving links; measuring a movement of a point in fixed relationship with a tilting body during the arm movement as an arm measurement; executing a tilting movement by tilting the tilting body about a fifth axis; measuring a movement of the point during the tilting movement as a tilting measurement; and calibrating a fourth axis based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis, a control system, and a robot system are also provided.
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