Method and apparatus for selecting initial point for industrial robot commissioning
AssigneeABB Schweiz AG
InventorsHao Gu, Cheng Li
Life of this patent
Estimating the term…
Abstract
A method and apparatus for selecting an initial point for industrial robot commissioning, the initial point being located above a touchscreen for industrial robot commissioning. The method including: calculating a nominal posture of a work object relative to the industrial robot by a nominal posture calculating module; and selecting an initial point according to the nominal posture by an initial point selecting module. The method and apparatus can automatically select the initial point so as to further increase automation of the commissioning process and reduce workloads.
Claims10
A method for selecting an initial point for industrial robot commissioning, the initial point being located above a touchscreen for industrial robot commissioning, the method comprises:
- calculating a nominal posture of a work object relative to the industrial robot;
- and
- selecting the initial point according to the nominal posture;
- wherein the step of calculating a nominal posture further comprises:
- obtaining a first output when an inertial sensor is at a first posture and a second output when the inertial sensor is at a second posture, wherein the first posture is same as a posture of a base frame of the industrial robot, and the second posture is same as a posture of the work object;
- and calculating a nominal posture of the work object relative to the industrial robot according to the first output and the second output.
An apparatus for selecting an initial point for industrial robot commissioning, the initial point being located above a touchscreen for industrial robot commissioning, the apparatus configured to:
- calculate a nominal posture of a work object relative to the industrial robot;
- and
- select the initial point according to the nominal posture;
- wherein the calculate the nominal posture of the work object relative to the industrial robot is further configured to:
- obtain a first output when an inertial sensor is at a first posture and a second output when the inertial sensor is at a second posture, wherein the first posture is same as a posture of a base frame of the industrial robot, and the second posture is same as a posture of the work object;
- and
- calculate a nominal posture of the work object relative to the industrial robot according to the first output and the second output.
Dependencies are inferred from the claim text.