Robot system calibration method
AssigneeFanuc America Corporation
InventorsRandy A. Graca, Thomas R. Galloway, Nivedhitha Giri, Gordon Geheb
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Abstract
A system for calibrating a multi-robot system includes a robot simulation device having a processor disposed therein for creating a simulation work cell of an operation of a real robot work cell, the robot simulation device configured to communicate with a robot control system controlling the robots of the real robot work cell. The simulation work cell is created based upon a predetermined layout of the real robot work cell. The system further includes a software program executed by at least one of the robot simulation device and the robot control system for calculating a part tracking offset between the simulation work cell and the real robot work cell for controlling the robots.
Claims19
A system for calibrating a multi-robot system comprising:
- a robot simulation device having a processor disposed therein for creating a simulation work cell based upon a predetermined layout of a real robot work cell, the robot simulation device communicating with a robot control system controlling robots in the real robot work cell;
- a software program executed by at least one of the robot simulation device and the robot control system for calculating a part tracking offset between the simulation work cell and the real robot work cell, the robot control system using the part tracking offset to control the robots;
- and
- the robot simulation device calculating the part tracking offset in response to a tool of the real robot work cell contacting an identifiable point on a work piece at a first position of the work piece in the real robot work cell, contacting the identifiable point on the work piece at a second position of the work piece in the real robot work cell, and jogging of the tool to a third position in a direction perpendicular to a travel direction of the work piece through the real robot work cell.
A method for calibrating a multi-robot system comprising the steps of:
- creating a simulation work cell of an operation of a real robot work cell through a robot simulation device, the simulation work cell being based on a predetermined layout of the real robot work cell;
- establishing tracking frames in the simulation work cell through the robot simulation device;
- determining, through a robot control system for robots in the real robot work cell, if a deviation exists between the simulation work cell and the real robot work cell;
- executing a frame calibration through the robot control system to calibrate the simulation work cell with the real robot work cell for controlling the robots;
- and
- teaching a nominal tracking frame for each of a plurality of robots of the multi-robot system including touching, by a tool of at least one robot of the plurality of robots, an identifiable point on a work piece at a first position of the work piece in the real robot work cell and touching, by the tool, the identifiable point on the work piece at a second position of the work piece in the real robot work cell.
A method for calibrating a multi-robot system comprising the steps of:
- creating a simulation work cell of an operation of a real robot work cell through a robot simulation device, the simulation work cell being based on a predetermined layout of the real robot work cell;
- establishing tracking frames in the simulation work cell through the robot simulation device;
- defining a work cell frame on the simulation work cell as being at a specified position of the work piece as the work piece travels on a conveyor, the specified position established when the work piece is initially detected before entering an operation zone, the specific positioned signaled to a controller to initiate control of the robots;
- determining, through a robot control system for robots in the real robot work cell, if a deviation exists between the simulation work cell and the real robot work cell;
- executing at least one of a frame calibration and a calibration path through the robot control system to calibrate the simulation work cell with the real robot work cell;
- relocating, through the robot simulation device, the simulation work cell to be substantially equivalent to the real robot work cell;
- and
- calculating a part tracking offset through the robot simulation device based on the relocation of the simulation work cell and using the part tracking offset to control the robots.
Dependencies are inferred from the claim text.