Calibration and programming of robots
AssigneeUniversal Robots A/S
InventorsRune Søe-Knudsen, Esben Hallundbæk Østergaard, Henrik Gordon Petersen
Life of this patent
Estimating the term…
Abstract
Methods includes calibrating robots without the use of external measurement equipment and copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.
Claims20
A method for making a working program for a first robot usable with a second robot, each of the first robot and the second robot having joints connecting two flanges, the two flanges comprising a base flange and a tool flange, the method comprising:
- obtaining the working program for the first robot;
- selecting positions or angles based on the working program for the first robot;
- moving the second robot to the positions or angles to produce a position pair data set;
- estimating kinematic models of the first robot and the second robot based on a base flange offset and a tool flange center point offset between the first robot and the second robot using the position pair data set;
- and
- performing a conversion operation on the working program based on the kinematic models.
Non-transitory machine-readable data storage storing instructions that are executable to make a working program for a first robot usable with a second robot, each of the first robot and the second robot having joints connecting two flanges, the two flanges comprising a base flange and a tool flange, the instructions being executable to perform operations comprising:
- obtaining the working program for the first robot;
- selecting positions or angles based on the working program for the first robot;
- causing the second robot to move to the positions or angles to produce a position pair data set;
- estimating kinematic models of the first robot and the second robot based on a base flange offset and a tool flange center point offset between the first robot and the second robot using the position pair data set;
- and
- performing a conversion operation on the working program based on the kinematic models.
Dependencies are inferred from the claim text.