Robot system calibration
AssigneeABB Schweiz AG
InventorsDaniel Sirkett, Jeremy Pouech, Peter Fransson
Life of this patent
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Abstract
A method for calibrating a robot system having a planar pick surface includes: bringing a robot gripper to a first location against the pick surface; and generating a first image of the robot gripper from below. When knowing that a certain identifiable part of the robot gripper in images always lies against the planar pick surface, the position and orientation of the pick surface in relation to a manipulator coordinate frame can be fully defined if the robot gripper's orientation in relation to the pick surface is known, or if there are images on identifiable parts of the robot gripper in at least three different positions against the pick surface.
Claims20
A method for calibrating a robot system comprising a planar pick surface, the method including the steps of:
- bringing a robot gripper to a first location against the pick surface, and
- generating a first image of the robot gripper from below while the robot gripper is in contact with the pick surface.
A robot system including:
- a planar pick surface, a manipulator for moving a robot gripper within a defined manipulator coordinate frame for picking objects from the pick surface, a vision system for generating images of objects on the pick surface, and a control unit for controlling movements of the manipulator and operation of the vision system, wherein the control unit is configured to calculate a correlation between a position and an orientation of the pick surface and the manipulator coordinate frame on the basis of a first image from below of the robot gripper being in contact against the pick surface.
Dependencies are inferred from the claim text.