公开(公告)号：US10160116B2

公开(公告)日：2018-12-25

申请号：US15251366

申请日：2016-08-30

Applicant: ABB Schweiz AG

Inventor： Jinsong Li ,  Hao Gu ,  Yonglin Chi ,  Yan Xu

IPC: B25J9/00 ,  B25J9/16

Abstract: A method is disclosed for calibrating a tool center point of tool for an industrial robot system. The method can include moving a first part of said tool and a cross beam sensor by said industrial robot; recording a first posture and a second posture of said industrial robot during the interruptions of a first beam and a second beam of a cross beam sensor; moving a second part of said tool and said cross beam sensor by said industrial robot; recording a third posture and a fourth posture of said industrial robot; calculating the tool orientation in consideration of said first posture, second posture, third posture and fourth posture of said industrial robot; and moving said tool and said cross beam sensor by said industrial robot so that said tool center point of said tool interrupts said crossing point of said cross beam sensor.

公开(公告)号：US20160368147A1

公开(公告)日：2016-12-22

申请号：US15251366

申请日：2016-08-30

Applicant: ABB Schweiz AG

Inventor： Jinsong Li ,  Hao Gu ,  Yonglin Chi ,  Yan Xu

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  G05B2219/39024 ,  G05B2219/39025

Abstract: A method is disclosed for calibrating a tool centre point of tool for an industrial robot system. The method can include moving a first part of said tool and a cross beam sensor by said industrial robot; recording a first posture and a second posture of said industrial robot during the interruptions of a first beam and a second beam of a cross beam sensor; moving a second part of said tool and said cross beam sensor by said industrial robot; recording a third posture and a fourth posture of said industrial robot; calculating the tool orientation in consideration of said first posture, second posture, third posture and fourth posture of said industrial robot; and moving said tool and said cross beam sensor by said industrial robot so that said tool centre point of said tool interrupts said crossing point of said cross beam sensor.

Abstract translation: 公开了一种用于校准用于工业机器人系统的工具的工具中心点的方法。 该方法可以包括通过所述工业机器人移动所述工具的第一部分和横梁传感器; 在横梁传感器的第一梁和第二梁的中断期间记录所述工业机器人的第一姿势和第二姿态; 通过所述工业机器人移动所述工具的第二部分和所述横梁传感器; 记录所述工业机器人的第三姿态和第四姿势; 考虑到所述工业机器人的所述第一姿态，第二姿势，第三姿态和第四姿势来计算所述工具姿势; 以及通过所述工业机器人移动所述工具和所述横梁传感器，使得所述工具的所述工具中心点中断所述横梁传感器的所述交叉点。