公开(公告)号：US20190099887A1

公开(公告)日：2019-04-04

申请号：US15845168

申请日：2017-12-18

Applicant: Industrial Technology Research Institute

Inventor： Cheng-Kai Huang ,  Yeou-Bin Guu ,  Yi-Len Chen ,  Chwen-Yi Yang ,  Jan-Hao Chen

IPC: B25J9/16 ,  G01B11/00 ,  G01B21/04 ,  G05B19/408

Abstract: A system for calibrating tool center point of robot is provided, which may include a first image sensor, a second image sensor, and a controller. The first image sensor may have a first image central axis. The second image sensor may have a second image central axis not parallel to the first image central axis, and intersect the first image central axis at an intersection point. The controller may control a robot to repeatedly move a tool center point thereof between the first and the second image central axis. The controller may record a calibration point including the coordinates of the joints of the robot when the tool center point overlaps the intersection point, and then move the tool center point and repeat the above steps to generate several calibration points, whereby the controller may calculate the coordinate of the tool center point according to the calibration points.

公开(公告)号：US10926414B2

公开(公告)日：2021-02-23

申请号：US15845168

申请日：2017-12-18

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Cheng-Kai Huang ,  Yeou-Bin Guu ,  Yi-Len Chen ,  Chwen-Yi Yang ,  Jan-Hao Chen

IPC: B25J9/16 ,  G01B11/00 ,  G01B21/04 ,  G05B19/408

Abstract: A system for calibrating tool center point of robot is provided, which may include a first image sensor, a second image sensor, and a controller. The first image sensor may have a first image central axis. The second image sensor may have a second image central axis not parallel to the first image central axis, and intersect the first image central axis at an intersection point. The controller may control a robot to repeatedly move a tool center point thereof between the first and the second image central axis. The controller may record a calibration point including the coordinates of the joints of the robot when the tool center point overlaps the intersection point, and then move the tool center point and repeat the above steps to generate several calibration points, whereby the controller may calculate the coordinate of the tool center point according to the calibration points.