Method for calibrating touchscreen panel with industrial robot and system, industrial robot and touchscreen using the same

A system for calibrating a touchscreen panel including an industrial robot, comprising:

• the touchscreen panel being configured to:
• (a) define at least one area of the touchscreen with predetermined accuracy for position measuring;
• (b) record 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) record a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen;
• (d) determine a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values;
• (e) computationally correct errors of the kinematic model of the industrial robot using the first calibration data;
• (f) record 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) determine a second calibration data for the touchscreen using the kinematic parameters and using the second position values;
• (h) computationally correct errors of position measurement of the touchscreen using the second calibration data;
• and
• iteratively repeat 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.

An industrial robot arranged in a working range of a touchscreen panel, comprising:

• a robot controller and a robot memory being configured to execute instructions to:
• (a) define at least one area of the touchscreen with predetermined accuracy for position measuring;
• (b) record 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) record a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen;
• (d) determine a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values;
• (e) computationally correct errors of the kinematic model of the industrial robot using the first calibration data;
• (f) record 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) determine a second calibration data for the touchscreen using the kinematic parameters and using the second position values;
• (h) computationally correct errors of position measurement of the touchscreen using the second calibration data;
• and
• iteratively repeat 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.

A touchscreen panel, including a touchscreen panel controller and touchscreen panel memory being configured to execute instructions to:

• (a) define at least one area of the touchscreen with predetermined accuracy for position measuring;
• (b) record 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) record a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen;
• (d) determine a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values;
• (e) computationally correct errors of the kinematic model of the industrial robot using the first calibration data;
• (f) record 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) determine a second calibration data for the touchscreen using the kinematic parameters and using the second position values;
• (h) computationally correct errors of position measurement of the touchscreen using the second calibration data;
• and
• iteratively repeat 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.