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1. (WO2018176188) METHOD AND APPARATUS FOR ESTIMATING SYSTEM ERROR OF COMMISSIONING TOOL OF INDUSTRIAL ROBOT

Pub. No.:    WO/2018/176188    International Application No.:    PCT/CN2017/078263
Publication Date: Fri Oct 05 01:59:59 CEST 2018 International Filing Date: Tue Mar 28 01:59:59 CEST 2017
IPC: G05B 19/401
Applicants: ABB SCHWEIZ AG
LI, Cheng
GU, Hao
TIAN, Jihuan
Inventors: LI, Cheng
GU, Hao
TIAN, Jihuan
Title: METHOD AND APPARATUS FOR ESTIMATING SYSTEM ERROR OF COMMISSIONING TOOL OF INDUSTRIAL ROBOT
Abstract:
The present disclosure relates to a method and apparatus for estimating a systematic error of a commissioning tool of an industrial robot, the industrial robot comprising an operational tool and an application camera, the commissioning tool comprising a touchscreen and a stylus, the method comprising: a driving step of driving the operational tool to rotate around a preset rotation axis; a first image obtaining step of obtaining a plurality of first images of the operational tool during rotation; and a first offset calculating step of calculating a first offset of the stylus relative to the operational tool according to the plurality of first images, so as to obtain the systematic error.