System and method for setting the tool center point of a robotic tool
AssigneeFanuc Robotics America, Inc.
InventorsThomas Nemmers, Donald E. Jenkins, Terry L. Tupper
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Abstract
A system for calibrating a robotic tool includes a housing including an aperture for receiving the robotic tool, an image generating device disposed in the housing and positioned to generate an image of the robotic tool received through the aperture of the housing, wherein the image generating device generates an image signal representing the image of the robotic tool, a light source disposed in the housing to backlight the robotic tool received through the aperture of the housing, and a processor responsive to the image signal for calculating and monitoring a configuration of the robotic tool.
Claims20
A system for calibrating a robotic tool, the system comprising:
- a housing including an aperture for receiving the robotic tool;
- an image generating device disposed in the housing and positioned to generate an image of the robotic tool received through the aperture of the housing, wherein the image generating device generates an image signal representing the image of the robot tool;
- a light source disposed in the housing to backlight the robotic tool received through the aperture of the housing;
- and
- a processor responsive to the image signal for calculating and monitoring a configuration of the robotic tool.
A method for setting a tool center point of a robotic tool, the method comprising the steps of:
- performing a calibration of an inspection station;
- moving the robotic tool into the inspection station;
- performing a setup of a robotic tool including generating a first image and a second image of the robotic tool to determine a tool center point of the robotic tool;
- and
- defining a user tool associated with the robotic tool based an analysis of the first image and the second image of the robotic tool.
A method for setting a tool center point of a robotic tool, the method comprising the steps of:
- a) providing an inspection station including an image generating device;
- b) positioning the robotic tool in the inspection station;
- c) generating a first image of the robotic tool using the image generating device;
- d) locating a first point on the robotic tool based upon the first image;
- e) locating a second point on the robotic tool based upon the first image;
- f) rotating the robotic tool a pre-determined radial distance;
- g) generating a second image of the robotic tool using the image generating device;
- h) locating the first point on the robotic tool based upon the second image to define the first point in three dimensional space;
- i) locating the second point on the robotic tool based upon the second image to define the second point in three dimensional space;
- and
- j) defining the tool center point relative to the first point and the second point.
Dependencies are inferred from the claim text.