Method and electronic device, system and computer readable medium for calibration
AssigneeABB Schweiz AG
InventorsXinyu Fang, Yichao Mao, Qi Lu, Jiafan Zhang
Life of this patent
Estimating the term…
Abstract
Systems, devices, and methods for time calibration. The method can include, in responses to receiving sensing data which indicates a deviation of a tool from an object to be operated by a robot with the tool, triggering the robot to perform a plurality of transformations. Each transformation causing the tool to contact the object at a reference position; determining joint positions of a joint of the robot holding the tool or the object after the plurality of transformations; and determining a position relationship between the tool and the robot at least partially based on the joint positions and the reference position.
Claims12
A calibration method comprising:
- in response to receiving, from a sensor, sensing data indicating a deviation of a tool from an object to be operated by a robot with the tool, triggering the robot to perform a plurality of transformations, each transformation causing the tool to contact the object at a reference position;
- determining, based on feedback data received from the robot, joint positions of a joint of the robot holding the tool or the object after the plurality of transformations, the feedback data recording the plurality of transformations of the robot;
- and
- determining a position relationship between the tool and the robot at least partially based on the joint positions and the reference position,
- wherein determining the joint positions comprises:
- receiving the feedback data from the robot;
- obtaining, from the feedback data, a first plurality of coordinate parameters of a joint of the robot in a set of transformed poses in a robot coordinate system, the robot having the set of transformed poses after performing the plurality of transformations;
- and
- determining the joint positions in the robot coordinate system based on the first plurality of coordinate parameters of the joint.
An electronic device, comprising:
- a processing unit;
- and
- a memory coupled to the processing unit and having instructions stored thereon, the instructions, when executed by the processing unit, causing the electronic device to execute acts, the acts comprising:
- in response to receiving, from a sensor, sensing data indicating a deviation of a tool from an object to be operated by a robot with the tool, triggering the robot to perform a plurality of transformations, each transformation causing the tool to contact the object at a reference position;
- determining, based on feedback data received from the robot, joint positions of a joint of the robot holding the tool or the object after the plurality of transformations, the feedback data recording the plurality of transformations of the robot;
- and
- determining a position relationship between the tool and the robot at least partially based on the joint positions and the reference position,
- wherein determining the position relationship comprises:
- determining a mapping between a sensor coordinate system and a robot coordinate system based on the sensing data and a first plurality of coordinate parameters of the joint of the robot in a set of transformed poses in the robot coordinate system, the robot having the set of transformed poses after performing the plurality of transformations;
- determining a first reference position information of the reference position in the sensor coordinate system based on the sensing data;
- and
- determining a first position relationship based on the mapping, the first plurality of coordinate parameters, and the first reference position information.
Dependencies are inferred from the claim text.