Method and apparatus for tool management in robot system
AssigneeABB Schweiz AG
InventorsKun Chang, Wenyao Shao, Dianfei Xia
Life of this patent
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Abstract
Methods, apparatuses, systems, and computer readable media for managing a tool in a robot system. In a method, a plurality of arm positions of a robot arm of the robot system are obtained when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, where the posture represents rotation parameters of the robot arm. A center of the calibration object is determined based on the plurality of arm positions. A reference position of the robot arm is generated for calibrating the tool based a position of the center and the posture.
Claims20
A method for managing a tool in a robot system, comprising:
- obtaining a plurality of arm positions of a robot arm of the robot system when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, the posture representing rotation parameters of the robot arm;
- determining a center of the calibration object based on the plurality of arm positions;
- generating a plurality of reference positions of the robot arm for calibrating the tool based a position of the center and the posture;
- and
- determining, based on the plurality of reference positions, a transformation relationship between an arm coordinate of the robot arm and a Tool Center Position (TCP) coordinate of the robot system.
An apparatus for managing a tool in a robot system, comprising:
- an obtaining unit, configured for obtaining a plurality of arm positions of a robot arm of the robot system when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, the posture representing rotation parameters of the robot arm;
- a determining unit, configured for determining a center of the calibration object based on the plurality of arm positions;
- and
- a generating unit, configured for generating a plurality of reference positions of the robot arm for calibrating the tool based a position of the center and the posture;
- and
- a transformation relationship determining unit, configured for determining, based on the plurality of reference positions, a transformation relationship between an arm coordinate of the robot arm and a Tool Center Position (TCP) coordinate of the robot system.
Dependencies are inferred from the claim text.