# US 2014/0156072 A1 · Apparatus and method for measuring tool center point position of robot

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- Number: US 2014/0156072 A1
- Document ID: US20140156072A1
- Status: Published application
- Kind: A1
- Application number: 14/173,373
- Filed: 2014-02-05
- Published: 2014-06-05
- Earliest claimed: 2009-08-03
- Assignees: Fanuc Corporation
- Applicants: Fanuc Ltd
- Inventors: Kazunori BAN; Katsutoshi TAKIZAWA; Gang SHEN
- Web page: https://patentgrep.com/patent/US20140156072A1

## CPC

- B25J 9/1692: {Calibration of manipulator}
- B25J 9/1697: {Vision controlled systems}
- Y10S 901/47: Optical
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

A measurement apparatus for determining a position of a tool center point (31) of a tool (30), which is attached to a tool attachment surface (32) of a robot (1), with respect to the tool attachment surface (32) includes: a camera (4) attached to the arm tip portion of the robot (1); a touch-up point (an origin of Σm) disposed in a working space of the robot; a measurement section (11a) for measuring the position of the touch-up point by using the robot and the camera; a first storage section (12a) for storing the measured position of the touch-up point; a second storage section (12b) for storing a position of the robot (1) when the tool center point is aligned with the touch-up point by moving the robot; and a calculation section (11b) for calculating the position of the tool center point with respect to the tool attachment surface of the robot by using the stored positions of the touch-up point and the robot. Therefore, the position of the tool center point with respect to the tool attachment surface is measured with high accuracy in a short period of time without using a substitution jig.

## Claims

### Claim 1

A measurement apparatus for determining a position of a tool center point of a tool, which is attached to a tool attachment surface of an arm tip portion of a robot, with respect to said tool attachment surface, the measurement apparatus comprising:
a camera attached to the arm tip portion of said robot;
a touch-up point disposed in a working space of said robot;
a measurement section for measuring the position of said touch-up point by using said robot and said camera;
a measurement result storage section for storing the position of said touch-up point measured by said measurement section;
an alignment result storage section for storing a position of said robot when said tool center point is aligned with said touch-up point only once by an operator, who visually moves said robot; and
a tool center point position calculation section for calculating the position of said tool center point with respect to said tool attachment surface of said robot by using the position of said touch-up point stored in said measurement result storage section and the position of said robot stored in said alignment result storage section.

### Claim 2

A measurement apparatus for determining a position of a tool center point of a tool, which is attached to a tool attachment surface of an arm tip portion of a robot, with respect to said tool attachment surface, the measurement apparatus comprising:
a camera attached to the arm tip portion of said robot; and
a measurement target disposed in a working space of said robot, wherein said measurement target includes a touch-up point whose position is known with respect to said measurement target, and
wherein the measurement apparatus further comprises:
a storage section for storing in advance the position of said touch-up point with respect to said measurement target;
a measurement section for measuring a position and posture of said measurement target by using said robot and said camera;
a measurement result storage section for storing the position and posture of said measurement target measured by said measurement section;
an alignment result storage section for storing a position of said robot when said tool center point is aligned with said touch-up point only once by an operator, who visually moves said robot; and
a tool center point position calculation section for calculating the position of said tool center point with respect to the tool attachment surface of said robot by using the position and posture of said measurement target stored in said measurement result storage section, the position of said robot stored in said alignment result storage section, and the position of said touch-up point stored in said storage section.

### Claim 3 (depends on 2)

The measurement apparatus according to claim 2, wherein said measurement target has measurement objects whose sizes and relative positions are known and that are arranged in a matrix.

### Claim 4 (depends on 2)

The measurement apparatus according to claim 2, wherein said measurement target has three measurement objects whose relative positions are known and that are not in line with each other.

### Claim 5

A measurement method for determining a position of a tool center point of a tool, which is attached to a tool attachment surface of an arm tip portion of a robot, with respect to said tool attachment surface, comprising the steps of:
measuring a position of a touch-up point disposed in a working space of said robot by using said robot and a camera attached to the arm tip portion of said robot;
storing the measured position of said touch-up point in a measurement result storage section;
aligning said tool center point with said touch-up point only once after an operator visually moves said robot;
storing, in an alignment result storage section, a position of said robot when said tool center point is aligned with said touch-up point; and
determining the position of said tool center point with respect to said tool attachment surface of said robot by using the position of said touch-up point stored in said measurement result storage section and the position of said robot stored in said alignment result storage section.

### Claim 6

A measurement method for determining a position of a tool center point of a tool, which is attached to a tool attachment surface of an arm tip portion of a robot, with respect to said tool attachment surface, comprising the steps of:
storing, in a storage section, a position of a touch-up point whose position is known in a coordinate system fixed to a measurement target disposed in a working space of said robot;
measuring a position and posture of the measurement target in the coordinate system fixed to said target by using said robot and a camera attached to the arm tip portion of said robot;
storing the measured position and posture of said target in a measurement result storage section;
aligning said tool center point with said touch-up point only once after an operator visually moves said robot;
storing, in an alignment result storage section, a position of said robot when said tool center point is aligned with said touch-up point; and
calculating the position of said tool center point with respect to the tool attachment surface of said robot by using the position and posture of said measurement target stored in said measurement result storage section, the position of said robot stored in said alignment result storage section, and the position of said touch-up point in said coordinate system stored in said storage section.