Title:
AUTOMATIC CALIBRATION METHOD FOR ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2017/163177
Kind Code:
A3
Abstract:
An automatic calibration method of a robot system, comprising steps of: providing a ball-rod member comprising a connection rod and a sphere connected to one end of the connection rod; fixing the other end of the connection rod to an terminate execution tool mounted on a flange of a robot; providing three distance sensors around a known target point, so as to sense three actual distances from the three distance sensors to a surface of the sphere, respectively; controlling the robot to move the center of the sphere to the target point in various different poses based on the three actual distances sensed by the three distance sensors, and calculating a transformation matrix Ts of the center of the sphere with respect to the center of the flange based on pose data of the robot at the target point in the various different poses; and calculating a transformation matrix Tt of the center of the terminate execution tool with respect to the center of the flange according to a following formula: Tt = Ts * Tc, wherein Tc is a transformation matrix of the center of the terminate execution tool with respect to the center of the sphere, and Tc is known and constant. It does not need to identify the center of the sphere based on images of the sphere captured by the vision sensor, improving the calibration efficiency of the robot system.
Inventors:
DENG YINGCONG (CN)
ZHANG DANDAN (CN)
LU ROBERTO FRANCISCO-YI (CN)
LIU YUN (CN)
HU LVHAI (CN)
ZHANG DANDAN (CN)
LU ROBERTO FRANCISCO-YI (CN)
LIU YUN (CN)
HU LVHAI (CN)
Application Number:
PCT/IB2017/051626
Publication Date:
November 02, 2017
Filing Date:
March 21, 2017
Export Citation:
Assignee:
TYCO ELECTRONICS SHANGHAI CO LTD (CN)
TE CONNECTIVITY CORP (US)
TYCO ELECTRONICS LTD UK (GB)
TE CONNECTIVITY CORP (US)
TYCO ELECTRONICS LTD UK (GB)
International Classes:
B25J9/16
Domestic Patent References:
| WO2015121767A1 | 2015-08-20 | |||
| WO2003035333A2 | 2003-05-01 |
Foreign References:
| US6434449B1 | 2002-08-13 | |||
| EP2390622A1 | 2011-11-30 | |||
| US20050234671A1 | 2005-10-20 | |||
| US20050225278A1 | 2005-10-13 |
Attorney, Agent or Firm:
KEANE, David (GB)
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