In-process relative robot workcell calibration
AssigneeABB AB
InventorsZhongxue Gan, Yunquan Sun, Qing Tang
Life of this patent
Estimating the term…
Abstract
A relative calibration system and method for robot workcell calibration is capable of correcting errors between the robot tool center point (TCP) and the work-object frame according to a relative reference, in that a precision path will be created based on this calibrated workcell.
Claims23
In a robotic workcell having a robot, a sample workpiece, a calibration station and a tooling system, a method for off-line relative calibration comprising the steps of:
- determining the tool center point of the robot;
- creating a relative reference between the robot and the sample workpiece;
- making relative measurements of the sample workpiece to calculate calibration parameters;
- calculating a work-object coordinate compensation matrix;
- and
- calibrating the tooling system.
In a calibrated robotic workcell having a robot, a true workpiece, a calibration station and a tooling system, a method for on-line relative calibration comprising the steps of:
- making relative measurements of the true workpiece to calculate calibration parameters;
- and
- calculating a work-object coordinate compensation matrix.
In a robotic workcell having a robot, a sample workpiece, a true workpiece, a calibration station and a tooling system, a method for calibration comprising the steps of:
- determining the tool center point of the robot;
- creating a relative reference between the robot and the sample workpiece;
- making relative measurements of the sample workpiece to calculate calibration parameters;
- calculating a work-object coordinate compensation matrix;
- calibrating the tooling system;
- making relative measurements of the true workpiece to calculate calibration parameters;
- and
- re-calculating the work-object coordinate compensation matrix.
In a robotic workcell having a robot, a robotic controller, a sample workpiece, a true workpiece, a sensor and a tooling system, a method for relative calibration comprising the steps of:
- downloading a model of the workpiece into the robotic controller;
- determining the tool center point of the robot;
- creating a relative reference between the robot and the sample workpiece;
- making relative measurements of the true workpiece to calculate calibration parameters;
- calculating a work-object coordinate compensation matrix;
- and
- calibrating the tooling system.
In a robotic workcell having a robot, a sample workpiece, a calibration station and a tooling system, a method for calibration comprising the steps of:
- calibrating the robot utilizing the sample workpiece and a digital model of the workpiece;
- taking relative measurements of the sample workpiece to calculate calibration parameters;
- and
- calculating a work-object coordinate compensation matrix.
In a robotic workcell having a robot, a sample workpiece, a true workpiece, a calibration station and a tooling system, a method for calibration comprising the steps of:
- calibrating the robot utilizing the sample workpiece and a digital model of the workpiece;
- taking relative measurements of the sample workpiece to calculate calibration parameters;
- calculating a work-object coordinate compensation matrix;
- making relative measurements of the true workpiece to calculate calibration parameters;
- and
- re-calculating the work-object coordinate compensation matrix.
A relative calibration system for use in a robotic workcell including a computer controlled robot, the system comprising:
- a calibration target mounted within the workcell;
- a true workpiece located within the workcell;
- and
- a sensor located within the workcell whereby the computer controlled robot determines a tool center point of the robot and establishes a relative reference between the workcell and the true workpiece.
A tooling calibration system for use in a robotic workcell including a computer controlled robot, the system comprising:
- a force sensor mounted to the robot;
- a data collection device connected to the force sensor;
- a workpiece removably connected to the force sensor;
- and
- a tool mounted within the workcell whereby the force between the workpiece and robot is measured by the force sensor, collected by the data collection device and mathematically optimized to calibrate the tool position.
A tooling calibration system for use in a robotic workcell including a computer controlled robot, the system comprising:
- a sensor removably attached to the robot;
- a data collection device connected to the sensor;
- and
- a tool mounted within the workcell whereby the relative position of at least two points are recorded by the data collection device and the tool position is determined.
Dependencies are inferred from the claim text.