Title:
METHOD FOR INDUSTRIAL ROBOT COMMISSIONING, INDUSTRIAL ROBOT SYSTEM AND CONTROL SYSTEM USING THE SAME
Document Type and Number:
WIPO Patent Application WO/2016/154995
Kind Code:
A1
Abstract:
It is therefore an objective of the invention to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same, wherein: the touchscreen is arranged in a working range of the industrial robot. The method includes attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; repeating the steps of (a), (b) and (c) for at least another two touches on the touchscreen, wherein two of the at least three touch points define a line parallel to X axis or Y axis of the industrial robot coordinate system and another of the at least three touch points is arranged away from the line; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points. The calibrated touchscreen is suitable to be used as a versatile tool for various sorts of industrial robot commissioning, for example absolute accuracy calibration, hand-eye calibration and path generation and tuning. It is helpful for increasing the integration degree of the industrial robot system, reducing the system complexity and cost. This can be particularly useful where industrial robot absolute accuracy in a compact local working area is particularly important for the purpose of small part assembly.
Inventors:
GU HAO (CN)
LI QINGWEI (CN)
LI JINSONG (CN)
TIAN JIHUAN (CN)
QI LIWEI (CN)
WANG JIANJIANG (CN)
LI QINGWEI (CN)
LI JINSONG (CN)
TIAN JIHUAN (CN)
QI LIWEI (CN)
WANG JIANJIANG (CN)
Application Number:
PCT/CN2015/075792
Publication Date:
October 06, 2016
Filing Date:
April 02, 2015
Export Citation:
Assignee:
ABB TECHNOLOGY LTD (CH)
GU HAO (CN)
LI QINGWEI (CN)
LI JINSONG (CN)
TIAN JIHUAN (CN)
QI LIWEI (CN)
WANG JIANJIANG (CN)
GU HAO (CN)
LI QINGWEI (CN)
LI JINSONG (CN)
TIAN JIHUAN (CN)
QI LIWEI (CN)
WANG JIANJIANG (CN)
International Classes:
B25J13/08
Domestic Patent References:
| WO2012062374A1 | 2012-05-18 |
Foreign References:
| CN102015221A | 2011-04-13 | |||
| DE102012019347A1 | 2014-04-03 | |||
| CN104057455A | 2014-09-24 |
Other References:
See also references of EP 3277468A4
Attorney, Agent or Firm:
BOSS & YOUNG PATENT AND TRADEMARK LAW OFFICE (Tower A Bldg. No. 1, GT International Center,,Jia 3 Yongandongli, Jianguomenwai Avenue, Chaoyang District, Beijing 2, CN)
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