Method and electronic device, system and computer readable medium for calibration
AssigneeABB Schweiz AG
InventorsXinyu Fang, Yichao Mao, Qi Lu, Jiafan Zhang
Life of this patent
Estimating the term…
Abstract
Systems, devices, and methods for time calibration. The method can include, in responses to receiving sensing data which indicates a deviation of a tool from an object to be operated by a robot with the tool, triggering the robot to perform a plurality of transformations. Each transformation causing the tool to contact the object at a reference position; determining joint positions of a joint of the robot holding the tool or the object after the plurality of transformations; and determining a position relationship between the tool and the robot at least partially based on the joint positions and the reference position.
Claims14
A calibration method comprising:
- in responses to receiving, from a sensor, sensing data indicating a deviation of a tool from an object to be operated by a robot with the tool, triggering the robot to perform a plurality of transformations, each transformation causing the tool to contact the object at a reference position;
- determining, based on the feedback data received from the robot, joint positions of a joint of the robot holding the tool or the object after the plurality of transformations, the feedback data recording the plurality of transformations of the robot;
- and
- determining a position relationship between the tool and the robot at least partially based on the joint positions and the reference position.
An electronic device, comprising:
- a processing unit;
- and
- a memory coupled to the processing unit and having instructions stored thereon, the instructions, when executed by the processing unit, causing the device to execute acts, the acts comprising:
- in responses to receiving, from a sensor, sensing data indicating a deviation of a tool from an object to be operated by a robot with the tool, triggering the robot to perform a plurality of transformations, each transformation causing the tool to contact the object at a reference position;
- determining, based on the feedback data received from the robot, joint positions of a joint of the robot holding the tool or the object after the plurality of transformations, the feedback data recording the plurality of transformations of the robot;
- and
- determining a position relationship between the tool and the robot at least partially based on the joint positions and the reference position.
Dependencies are inferred from the claim text.