Method and apparatus for tool management in robot system
AssigneeABB Schweiz AG
InventorsKun Chang, Wenyao Shao, Dianfei Xia
Life of this patent
Estimating the term…
Abstract
Methods, apparatuses, systems, and computer readable media for managing a tool in a robot system. In a method, a plurality of arm positions of a robot arm of the robot system are obtained when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, where the posture represents rotation parameters of the robot arm. A center of the calibration object is determined based on the plurality of arm positions. A reference position of the robot arm is generated for calibrating the tool based a position of the center and the posture.
Claims22
A method for managing a tool in a robot system, comprising:
- obtaining a plurality of arm positions of a robot arm of the robot system when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, the posture representing rotation parameters of the robot arm;
- determining a center of the calibration object based on the plurality of arm positions;
- and
- generating a reference position of the robot arm for calibrating the tool based a position of the center and the posture.
An apparatus for managing a tool in a robot system, comprising:
- an obtaining unit, configured for obtaining a plurality of arm positions of a robot arm of the robot system when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, the posture representing rotation parameters of the robot arm;
- a determining unit, configured for determining a center of the calibration object based on the plurality of arm positions;
- and
- a generating unit, configured for generating a reference position of the robot arm for calibrating the tool based a position of the center and the posture.
Dependencies are inferred from the claim text.