Device and a method for calibration of an industrial robot
AssigneeABB AB
InventorsTorgny Brogårdh, Henrik Jerregård, Alec Robertson, Alexander Slocum, Patrick Willoughby
Life of this patent
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Abstract
A device for calibration of an industrial robot, which calibration device is adapted for being in contact during the calibration with at least one plane of reference arranged on the robot, the calibration device includes an angle measuring member arranged for measuring an angle relative to the vertical line. The device further comprises two contact elements each having a curved surface, and the contact elements are arranged for being in contact with the plane of reference.
Claims38
A device for calibration of an industrial robot, which calibration device is adapted for being in contact during the calibration with at least one plane of reference arranged on the robot, the calibration device comprising:
- an angle measuring member arranged for measuring an angle relative to the vertical line, wherein the device further comprises:
- at least two contact elements each having a curved surface, and the contact elements are arranged so that the device is in contact with the plane of reference through said curved surfaces.
An industrial robot comprising at least two links moveably attached to each other by a joint, at least one plane of reference arranged on any of the links, and a calibration device adapted for being in contact with the plane of reference during the calibration, the calibration device comprising:
- an angle measuring member arranged for measuring an angle relative to the vertical line, wherein the calibration device further comprises:
- two contact elements each having a curved surface, and the contact elements are arranged so that the device is in contact with the plane of reference through said curved surfaces.
A method for calibrating an industrial robot including at least two links moveably attached to each other by a joint, at least one plane of reference arranged on any of the links, the method comprising:
- bringing a calibration device into contact with the plane of reference by bringing at least two curved surfaces into contact with at least one plane surface;
- measuring an angle corresponding to the angle between the plane of reference and the vertical line;
- and
- calibrating the robot in dependence of said angle.
Dependencies are inferred from the claim text.