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1. (WO2018119642) METHOD AND DEVICE FOR CALIBRATING TOOL COORDINATE SYSTEM ORIGIN OF INDUSTRIAL ROBOT

Pub. No.:    WO/2018/119642    International Application No.:    PCT/CN2016/112328
Publication Date: Fri Jul 06 01:59:59 CEST 2018 International Filing Date: Wed Dec 28 00:59:59 CET 2016
IPC: B25J 9/02
B25J 9/04
Applicants: SHENZHEN A&E INTELLIGENT TECHNOLOGY INSTITUTE CO., LTD.
深圳配天智能技术研究院有限公司
Inventors: YE, Gen
叶根
Title: METHOD AND DEVICE FOR CALIBRATING TOOL COORDINATE SYSTEM ORIGIN OF INDUSTRIAL ROBOT
Abstract:
Disclosed in an embodiment of the present invention is a method for calibrating a tool coordinate system origin of an industrial robot. The method comprises: controlling an industrial robot to drive a to-be-calibrated tool mounted on a tail end of the robot to move, so that a tool coordinate system origin of the to-be-calibrated tool reaches a fixed reference point along N different tracks; respectively recording a rotation angle of each shaft of the robot when the tool coordinate system origin reaches the reference point each time; and computing coordinate values of the tool coordinate system origin in a flange coordinate system of the robot according to the recorded N sets of rotation angles. In this way, coordinates of a tool coordinate system origin can be calibrated by means of movements of the industrial robot, without an external standard measurement tool.