Method for industrial robot commissioning, industrial robot system and control system using the same

An industrial robot commissioning system comprising:

• an industrial robot;
• an end effector;
• and
• a touchscreen,
• wherein:
• the industrial robot, the end effector, and the touchscreen are configured to:
• (a) move the industrial robot in a compliant way until a tool centre point of a tool attached to the end effector carried by the industrial robot touches a touch point on the touchscreen;
• (b) record a position of the tool centre point of the tool in the industrial robot coordinate system when the tool centre point touches the touch point of the touchscreen;
• (c) record the position of the touch point on the touchscreen in a touchscreen coordinate system;
• repeat (a), (b), and (c) for at least two different touches of the tool centre point on the touchscreen thereby being at least three different tool centre point positions at least three different touch points;
• and calculate a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three different tool centre point positions and the at least three different touch points;
• (d) move the industrial robot in the compliant way until the tool centre point of the tool touches a further touch point on the touchscreen;
• (e) record a posture of the industrial robot in the industrial robot coordinate system when the tool centre point touches the further touch point on the touchscreen;
• (f) record a position of the further touch point on the touchscreen in the touchscreen coordinate system;
• repeat (d), (e), and (f) for at least another two touches of the tool centre point on the touchscreen, wherein the tool is arranged in different poses when the tool centre point touches the touchscreen;
• and
• calculate a position of the tool centre point in the industrial robot coordinate system based on the relation, the at least three postures of the industrial robot and the at least three positions of the further touch points.

An industrial robot commissioning control system being adapted for controlling an industrial robot via a touchscreen, the industrial robot commissioning control system configured to:

• (a) move the industrial robot in a compliant way until a tool centre point of a tool carried by the industrial robot touches a touch point on the touchscreen;
• (b) record a position of the tool centre point of the tool in the industrial robot coordinate system when the tool centre point touches the touch point of the touchscreen;
• (c) record the position of the touch point on the touchscreen in a touchscreen coordinate system;
• repeat (a), (b), and (c) for at least two different touches on the touchscreen thereby being at least three different tool centre point positions at least three different touch points;
• and
• calculate a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three different tool centre point positions and the at least three different touch points;
• (d) move the industrial robot in the compliant way until the tool centre point of the tool carried by the industrial robot touches another touch point on the touchscreen;
• (e) record a posture of the industrial robot in the industrial robot coordinate system when the tool centre point touches the another touch point on the touchscreen;
• (f) record a position of the another touch point on the touchscreen in the touchscreen coordinate system;
• repeat (d), (e), and (f) for at least another two touches on the touchscreen,
• wherein the tool is arranged in different poses when the tool centre point of the tool touches the touchscreen;
• and
• calculate a position of the tool centre point in the industrial robot coordinate system based on the relation, the at least three postures of the industrial robot, and the at least three positions of the touch points.