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US 2016/0136805 A1Published application
Calibration and Programming of Robots
AssigneeUniversal Robots A/S
InventorsRune SØE-KNUDSEN, Esben Hallundbæk ØSTERGAARD, Henrik Gordon Petersen
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Abstract
Methods includes calibrating robots without the use of external measurement equipment and copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.
Claims10
A method for converting a working program from a first robot R1 to a second robot R2, each robot having joints connecting two flanges:
- a base flange and a tool flange, the method comprising:
- replacing the first robot R1 with the second robot R2;
- providing a working program R1P associated with the first robot R1;
- choosing a number of positions or angles in accordance with the working program R1P;
- moving the second robot R2 to the chosen positions or angles to provide a position pair data set <R1Q, R2Q>;
- estimating kinematic models (M1, M2) of the first and second robots (R1, R2) based on base flange offset (Tbase) and tool center point offset (Ttcp) between the first and second robots (R1, R2) using the position pair data set <R1Q, R2Q>;
- and
- performing a working program conversion based on the estimated kinematic models (M1, M2).
5 more elements
Dependencies are inferred from the claim text.