公开(公告)号：US11207781B2

公开(公告)日：2021-12-28

申请号：US16674916

申请日：2019-11-05

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  B25J11/00 ,  G05B19/401 ,  G05B19/414

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US10606410B2

公开(公告)日：2020-03-31

申请号：US16048773

申请日：2018-07-30

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Liwei Qi ,  Roger Mellander ,  Daniel X. Wappling

IPC: G06F3/041 ,  B25J9/16

Abstract: A method for calibrating a touchscreen panel and the system, the industrial robot and the touchscreen panel using the same. The method including the steps of: (a) defining at least one area of the touchscreen with predetermined accuracy for position measuring; (b) recording a plurality of kinematic parameters of the industrial robot on a plurality of first touch points on the at least one area of the touchscreen; (c) recording a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen; (d) determining a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values; (e) computationally correcting errors of the kinematic model of the industrial robot using the first calibration data; (f) recording a plurality of second position values on a plurality of second touch points on the at least one area with at least a portion of its border extending outwards; (g) determining a second calibration data for the touchscreen using the kinematic parameters and using the second position values; (h) computationally correcting errors of position measurement of the touchscreen using the second calibration data; and iteratively repeating the steps (b) through (h) for different postures of the industrial robot until the iteration step no longer results in significant improvement of the error correction of the kinematic model of the industrial robot.

公开(公告)号：US20180126557A1

公开(公告)日：2018-05-10

申请号：US15719243

申请日：2017-09-28

Applicant: ABB Schweiz AG

Inventor： HAO GU ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G05B19/401 ,  G05B19/414 ,  G06F3/041

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US10786904B2

公开(公告)日：2020-09-29

申请号：US15719243

申请日：2017-09-28

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G06F3/041 ,  B25J11/00 ,  G05B19/401 ,  G05B19/414

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US20200061837A1

公开(公告)日：2020-02-27

申请号：US16674916

申请日：2019-11-05

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G06F3/041 ,  G05B19/401 ,  B25J11/00

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen, (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US20180364866A1

公开(公告)日：2018-12-20

申请号：US16048773

申请日：2018-07-30

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Liwei Qi ,  Roger Mellander ,  Daniel X. Wappling

IPC: G06F3/041 ,  B25J9/16

Abstract: A method for calibrating a touchscreen panel and the system, the industrial robot and the touchscreen panel using the same. The method including the steps of: (a) defining at least one area of the touchscreen with predetermined accuracy for position measuring; (b) recording a plurality of kinematic parameters of the industrial robot on a plurality of first touch points on the at least one area of the touchscreen; (c) recording a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen; (d) determining a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values; (e) computationally correcting errors of the kinematic model of the industrial robot using the first calibration data; (f) recording a plurality of second position values on a plurality of second touch points on the at least one area with at least a portion of its border extending outwards; (g) determining a second calibration data for the touchscreen using the kinematic parameters and using the second position values; (h) computationally correcting errors of position measurement of the touchscreen using the second calibration data; and iteratively repeating the steps (b) through (h) for different postures of the industrial robot until the iteration step no longer results in significant improvement of the error correction of the kinematic model of the industrial robot.