Title:
METHOD AND DEVICE FOR ACQUIRING TCP COORDINATES OF ROBOT
Document Type and Number:
WIPO Patent Application WO/2019/114631
Kind Code:
A1
Abstract:
An embodiment of the present application provides a method for acquiring TCP coordinates of a robot, comprising the following steps: marking a point, which can be recognized by a sensor, on a tool at an end of a robot arm as a TCP, and obtaining k adjustment coordinates from the theoretical coordinates of the TCP; utilizing the coordinates of the marked point in a robot arm coordinate system and in a sensor coordinate system to establish k coordinate conversion relationships between the robot arm coordinate system and the sensor coordinate system; in accordance with m positions, in a sensor recognition range, of the marked point, obtaining the maximum conversion error in the conversion errors of each coordinate conversion relationship at the m positions and/or the average error of the conversion errors of each coordinate conversion relationship at the m positions; and setting the adjustment coordinates corresponding to the minimum of the obtained k maximum conversion errors and/or the minimum of k average errors as the actual coordinates of the TCP. Said method reduces the range of error generated during the operation task of the robot, improving the operation precision of the robot.
Inventors:
GONG MINGBO (CN)
LIU DA (CN)
LIU DA (CN)
Application Number:
PCT/CN2018/119789
Publication Date:
June 20, 2019
Filing Date:
December 07, 2018
Export Citation:
Assignee:
BEIJING BAIHUI WEIKANG TECH CO LTD (CN)
International Classes:
B25J9/16; B25J19/00
Foreign References:
| CN104061888A | 2014-09-24 | |||
| CN105945948A | 2016-09-21 | |||
| CN106502208A | 2017-03-15 | |||
| CN103101060A | 2013-05-15 | |||
| KR20130045557A | 2013-05-06 | |||
| JP2013082032A | 2013-05-09 |
Attorney, Agent or Firm:
NTD UNIVATION INTELLECTUAL PROPERTY AGENCY LTD. (CN)
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