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1. (WO2014206787) METHOD FOR ROBOT CALIBRATION

Pub. No.:    WO/2014/206787    International Application No.:    PCT/EP2014/062545
Publication Date: Thu Jan 01 00:59:59 CET 2015 International Filing Date: Tue Jun 17 01:59:59 CEST 2014
IPC: B25J 9/16
Applicants: ROBOTKONSULT AB
Inventors: STENBERG, Björn
Title: METHOD FOR ROBOT CALIBRATION
Abstract:
A method for calibration of a robot (1) in relation to a robot installation with at least one work object (6), the method comprising modeling the robot installation in a nominal model (7), defining a plurality of desired positions (P) as nominal coordinates (xnom), converting the nominal coordinates to robot coordinates (xrob), operating the robot to reach a series of robot positions defined by the robot coordinates, and, when required, manually moving the robot from one of the robot positions to a corresponding desired position (touch-up). The manual movement (touch-up) is stored in the form of an addition to the nominal model, wherein the addition includes corrections (xcorr) of the nominal coordinates. According to the invention, the information from each touch-up is stored in addition to the nominal model. Thereby, the original model is maintained, and can still be used as "blue print".