System for calibration of an industrial robot and a method thereof
AssigneeABB AB
InventorTorgny Brogårdh
Life of this patent
Estimating the term…
Abstract
A method for calibration of an industrial robot including a plurality of movable links and a plurality of actuators effecting movement of the links and thereby of the robot. The method includes mounting a measuring tip on or in the vicinity of the robot, moving the robot such that the measuring tip is in contact with a plurality of measuring points on the surface of at least one geometrical structure on or in the vicinity of the robot, reading and storing the positions of the actuators for each measuring point, and estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.
Claims22
A method for calibration of an industrial robot including a plurality of movable links and a plurality of actuators effecting movement of the links and thereby of the robot, the method comprising:
- mounting a measuring tip on or in the vicinity of the robot,
- providing at least one geometrical structure comprising a part of the robot or a calibration object mounted on or in the vicinity of the robot,
- moving the robot by the operator such that the measuring tip is in contact with a plurality of measuring points on a surface of the at least one geometrical structure,
- reading and storing with the robot positions of the actuators for each of the plurality of measuring points on the surface of the at least one geometrical structure, and
- estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.
A computer program product, comprising:
- a non-transitory computer readable medium;
- and
- computer program instructions recorded on the non-transitory computer readable medium and executable by a processor for performing calibration of an industrial robot including a plurality of movable links, a plurality of actuators effecting movement of the links, the calibration comprising:
- receiving and storing positions of the actuators corresponding to a plurality of measuring points on a surface of at least one geometrical structure comprising a part of the robot or a calibration object mounted on or in the vicinity of the robot, for which a measuring tip, mounted on or in the vicinity of the robot, is in contact with the surface,
- reading and storing with the robot positions of the actuators for each of the plurality of measuring points on the surface of the at least one geometrical structure,
- estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.
A system for calibration of an industrial robot including a movable platform, a plurality of movable links controlling the movable platform, and a plurality of actuators effecting movement of the links and thereby of the robot, the system comprising:
- a measuring tip mounted on or in the vicinity of the robot,
- at least one geometrical structure comprising a part of the robot or a calibration object mounted on or in the vicinity of the robot,
- storage configured to read and store positions of the actuators for a plurality of measuring points when the measuring tip is in contact with a plurality of points on a surface of the at least one geometrical structure, and
- a calibration module adapted to estimate a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators.
A method for calibration of an industrial robot including a movable platform, a plurality of movable links controlling the movable platform, and a plurality of actuators effecting movement of the links and thereby of the robot, the method comprising:
- mounting a measuring tip on or in the vicinity of the robot;
- mounting to the movable platform a wrist movable in one or more degrees of freedom and having a tool flange;
- mounting a geometrical structure on the tool flange;
- moving the robot such that the measuring tip is in contact with a plurality of measuring points on a surface of the at least one geometrical structure;
- reading and storing positions of the actuators for each measuring point on the surface of the at least one geometrical structure;
- reorienting at least one axis of the wrist;
- moving the robot such that the measuring tip is in contact with a plurality of measuring points on the at least one geometrical structure with the at least one reoriented axis of the wrist;
- reading and storing positions of the actuators for each measuring point on the at least one geometrical structure;
- estimating a plurality of kinematic parameters for the robot based on a geometrical model of the at least one geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.
A system for calibration of an industrial robot including a movable platform, a plurality of movable links controlling the movable platform, and a plurality of actuators effecting movement of the links and thereby of the robot, the system comprising:
- a measuring tip mounted on or in the vicinity of the robot;
- a wrist movable in at least one degree of freedom mounted to movable platform and having a tool flange;
- at least one geometrical structure on the tool flange;
- storage configured to read and store positions of the actuators for a plurality of measuring points when the measuring tip is in contact with a surface of the at least one geometrical structure;
- and
- a calibration module adapted to estimate a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators.
Dependencies are inferred from the claim text.