Robot machining tool position and orientation calibration
AssigneeABB Research Ltd.
InventorsQing Tang, Hakan Brantmark, Zhongxue Gan, Torgny Brogardh
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Abstract
A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.
Claims22
A method of calibrating a robot having a rotable spindle for holding a tool, the method comprising:
- disposing a calibration tool in said spindle;
- measuring a plurality of positions associated with said calibration tool;
- determining a rotation axis of said spindle based on said plurality of positions;
- ascertaining a calibration tool center point based on said plurality positions;
- computing a robot tool rotation axis and tool center point based on said determining a rotation axis;
- said calibration tool center point, and a difference in length between said calibration tool and a robot tool.
A system for calibrating a robot having a rotable spindle for holding a tool, the system comprising:
- a calibration tool disposed in said spindle of said robot;
- a measurement probe disposed at a known location within attainable distance of said robot with said calibration tool;
- a controller for implementing a measurement process comprising:
- measuring a plurality of positions associated with said calibration tool;
- determining a rotation axis of said spindle based on said plurality of positions;
- ascertaining a calibration tool center point based on said plurality positions;
- computing a robot tool rotation axis and tool center point based on said determining a rotation axis, said calibration tool center point, and a difference in length between said calibration tool and a robot tool.
Dependencies are inferred from the claim text.