Method and a system for programming an industrial robot to move relative to defined positions on an object, including generation of a surface scanning program

A computer program product, comprising:

• a readable medium;
• and
• computer program instructions recorded on the computer readable medium and executable by a processor to carry out the steps of:
• registering and storing a plurality of measuring points, each measuring point corresponding to a point on a surface of an object expressed in a coordinate system associated with an industrial robot,
• calculating one or a plurality of characteristic parameters for a plurality of different parts of the object based on a geometrical model of the object,
• determining an orientation and position of the geometrical model of the object relative to said coordinate system associated with the robot by adapting the geometrical model of the object to the measuring points, wherein adapting the geometrical model of the object to the measuring points comprises adapting measuring points belonging to a certain part of the object to the corresponding part of the geometrical model,
• determining to which part of the object a measuring point belongs based on said characteristic parameters,
• calculating a deviation between the measuring points and corresponding points on the geometrical model for at least some of the measuring points,
• adjusting said defined positions based on said calculated deviations, and providing the adjusted defined positions to a control system of the robot to be used for controlling the robot.

A system for programming an industrial robot to move relative to defined positions on an object, wherein the system comprises

• a geometric model of the object,
• the real object,
• an industrial robot, wherein the real object and the robot are arranged to that it is possible to, by means of the robot, generate a plurality of measuring points corresponding to different points on the surface of the real object expressed in a coordinate system associated with the robot,
• a calibration module arranged to determine orientation and position of the geometrical model of the object relative to said coordinate system associated with the robot by adapting the measuring points to the geometrical model of the object,
• a part classification module arranged to calculate one or a plurality of characteristic parameters for a plurality of different parts of the object, based on the geometrical model for the object, and to determine to which part of an object a measuring point belongs, based on said characteristic parameters, wherein said calibration module is adapted to execute said adaptation of the geometrical model of the object to the measuring points by adapting the measuring points belonging to a certain part of the object to a corresponding part of the geometrical model,
• a calculating module arranged to receive the measuring points and corresponding points from the calibration module to calculate the deviation between the measuring points and corresponding points on the geometrical model, and
• a control system comprising an adjusting module arranged to receive the deviation from the calculating module and to adjust said defined positions based on said calculated deviations and direct movement of the robot to the adjusted defined positions.

A method for programming an industrial robot to move relative to defined positions on an object, wherein the programming is based on a geometric model of the object, the method comprising:

• registering and storing a plurality of measuring points, each measuring point corresponding to a point on a surface of the object expressed in a coordinate system associated with the robot;
• providing geometric models for a plurality of different objects;
• calculating a plurality of characteristic parameters for each of the objects based on the geometrical model of the object;
• determining to which of the objects the measuring points belong based on the measuring points and said characteristic parameters;
• determining an orientation and position of the geometrical model of the object relative to said coordinate system associated with the robot by adapting the geometrical model of the object to the measuring points, wherein adapting the geometrical model of the object to the measuring points comprises adapting measuring points belonging to a certain part of the object to the defined positions on a corresponding part of the geometrical model;
• calculating a deviation between the measuring points and corresponding points on the geometrical model for at least some of the measuring point;
• adjusting said defined positions based on said calculated deviations;
• and
• providing the adjusted defined positions to a control system of the robot to be used for controlling the robot.

A computer program product, comprising:

• a readable medium;
• and
• computer program instructions recorded on the computer readable medium and executable by a processor to carry out the steps of:
• registering and storing a plurality of measuring points, each measuring point corresponding to a point on a surface of an object expressed in a coordinate system associated with an industrial robot,
• providing geometric models for a plurality of different objects,
• calculating a plurality of characteristic parameters for each of the objects based on a geometrical model of the object,
• determining to which of the objects the measuring points belong based on the measuring points and said characteristic parameters,
• determining an orientation and position of the geometrical model of the object relative to said coordinate system associated with the robot by adapting the geometrical model of the object to the measuring points, wherein adapting the geometrical model of the object to the measuring points comprises adapting measuring points belonging to a certain part of the object to the defined positions on a corresponding part of the geometrical model,
• calculating a deviation between the measuring points and corresponding points on the geometrical model for at least some of the measuring point,
• adjusting said defined positions based on said calculated deviations, and
• providing the adjusted defined positions to a control system of the robot to be used for controlling the robot.