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US 4,815,006 AGranted
Method and device for calibrating a sensor on an industrial robot
AssigneeASEA Aktiebolag
InventorsBjorn Andersson, Jan G. Fager
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AssigneeASEA Aktiebolag
InventorsBjorn Andersson, Jan G. Fager
Estimating the term…
An industrial robot has a sensor mounted on a hand of the robot which senses the position of an object relative to the sensor. The sensor controls, during automatic operation of the robot, its movement in relation to the object, a robot control system determining the path of the robot in a robot coordinate system on the basis of measurement signals from the sensor. For calibration of the sensor, the sensor is automatically moved to a number of points connected to a calibration object with a known position in the robot coordinate system. At each point a number of measurements of the position of the object in relation to the sensor are made. On the basis of the measurements, those transformations are determined which transform the measurement signals of the sensor to the position of the measuring point in the robot coordinate system.
A method for calibrating a sensor of an industrial robot which is mounted on a hand of the robot, the sensor being adapted to sense the position, relative to the sensor, of an object, the robot having a control system adapted, during automatic operation, to control the robot in a path defined by points in a robot coordinate system,
An industrial robot with a sensor mounted on a hand of the robot which sensor is adapted to sense the position relative to the sensor of a calibration object, the robot having a control system adapted, during automatic operation, to control movement of the robot along a path defined by points in a robot coordinate system,
Dependencies are inferred from the claim text.