Method and apparatus for calibrating tool in flange coordinate system of robot
AssigneeShenzhen A&E Smart Institute Co., Ltd.
InventorWENFENG MU
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Abstract
A method and an apparatus for calibrating a tool in a flange coordinate system of a robot are disclosed. The method includes: acquiring a rotation angle of each joint of a robot when a to-be-calibrated tool fasted on an end joint mounting portion of the robot moves to a central point of the to-be-calibrated tool and overlaps with a calibration reference point acquiring calibration information of a central point of a calibrated tool in a flange coordinate system of the robot and completing calibration of the central point of the to-be-calibrated tool in the flange coordinate system of the robot according to the calibration information of the central point of the calibrated tool and a rotation angle of the to-be calibrated tool.
Claims21
A method for calibrating a tool in a flange coordinate system of a robot, wherein the robot comprises a mounting portion having an end joint;
- the method comprising:
- acquiring a rotation angle of each joint of the robot when a to-be calibrated tool fasted on the end joint mounting portion of the robot moves to where a central point of the to-be-calibrated tool overlaps with a calibration reference point;
- acquiring calibration information of a central point of a calibrated tool in the flange coordinate system of the robot;
- and
- completing calibration of the central point of the to-be-calibrated tool in the flange coordinate system of the robot according to the calibration information of the central point of the calibrated tool and a rotation angle of the to-be-calibrated tool.
An apparatus for calibrating a tool in a flange coordinate system of a robot, wherein the robot comprises a mounting portion having an end joint the apparatus comprising a memory storing a plurality of programs and a processor, wherein the programs when executed by the processor, cause the processor to perform operations, comprising:
- acquiring a rotation angle of each joint of the robot when a to-be-calibrated tool fasted on an end joint mounting portion of the robot moves to where a central point of the to-be-calibrated tool overlaps with a calibration reference point;
- acquiring calibration information of a central point of a calibrated tool in the flange coordinate system of the robot;
- and
- completing calibration of the central point of the to-be-calibrated tool in the flange coordinate system of the robot according to the calibration information of the central point of the calibrated tool and a rotation angle of the to-be-calibrated tool.
(canceled)
Dependencies are inferred from the claim text.