US 2022/0063104 A1Published application

Calibration method for tool center point, teaching method for robotic arm and robotic arm system using the same

AssigneeIndustrial Technology Research Institute

InventorsCheng-Kai HUANG, Yi-Ying LIN, Bing-Cheng HSU, Jan-Hao CHEN

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Abstract

Firstly, a robotic arm drives a projection point of tool projected on test plane to perform relative movement relative to a reference point of a test plane. Then, conversion relationship is established according to the relative movement. Then, a tool axis vector relative to an installation surface reference coordinate system of the robotic arm is obtained. Then, calibration point information group obtaining step is performed, wherein the calibration point information group obtaining step includes: (a1) the robotic arm drives a tool center point to coincide with a reference point of the test plane and records calibration point information group; (a2) the robotic arm drives the tool to change angle of the tool; and (a3) steps (a1) and (a2) are repeated to obtain several calibration point information groups. Then, tool center point coordinate relative to the installation surface reference coordinate system is obtained according to the calibration point information groups.

Claims16

Dependent claims

A calibration method for tool center point, comprising:

performing a step of establishing a first conversion relationship between a robotic arm reference coordinate system and a camera reference coordinate system, comprising:
driving, by a robotic arm, a projection point of a tool axis of a tool projected on a test plane to perform a relative movement relative to a reference point of the test plane;
and
establishing the first conversion relationship according to the relative movement;
obtaining a tool axis vector relative to an installation surface reference coordinate system of the robotic arm;
performing a calibration point information group obtaining step, comprising:
(a1) driving, by the robotic arm, a tool center point to coincide with the reference point of the test plane, and recording a calibration point information group of the robotic arm;
(a2) driving, by the robotic arm, the tool to change an angle of the tool axis;
and
(a3) repeating steps (a1) and (a2) to obtain a plurality of the calibration point information groups;
and
obtaining a tool center point coordinate relative to the installation surface reference coordinate system according to the calibration point information groups.

9 more elements

A robotic arm system, comprising:

a robotic arm configured to carry a tool, wherein the tool has a tool axis;
a controller configured to:
control the robotic arm to drive a projection point of a tool axis of a tool projected on a test plane to perform a relative movement relative to a reference point of the test plane;
establish a first conversion relationship between a robotic arm reference coordinate system of the robotic arm and a camera reference coordinate system according to the relative movement;
obtain a tool axis vector relative to an installation surface reference coordinate system of the robotic arm;
perform a calibration point information group obtaining step, comprising:
(a1) controlling the robotic arm to drive a tool center point to coincide with the reference point of the test plane and recording a calibration point information group of the robotic arm;
(a2) controlling the robotic arm to drive the tool to change an angle of the tool axis;
and
(a3) repeating steps (a1) and (a2) to obtain a plurality of the calibration point information groups;
and
obtain a tool center point coordinate relative to the installation surface reference coordinate system according to the calibration point information groups.

9 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/230,626Filed 14 Apr 2021
Priority: TW 10912978431 Aug 2020
Published: 3 Mar 2022
Term ends: Not estimatedThe source records don’t support an estimate.

Classification9 codes

B25J 9/1692
Characterised by the tasks executed: calibration of manipulator
B25J 9/023
Characterised by movement of the arms, e.g. cartesian coordinate type: cartesian coordinate type
B25J 9/163
Characterised by the control loop: learning, adaptive, model based, rule based expert control
B25J 9/1664
Characterised by programming, planning systems for manipulators: characterised by motion, path, trajectory planning