초록 ▼

An industrial robot has a sensor mounted on a hand of the robot which senses the position of an object relative to the sensor. The sensor controls, during automatic operation of the robot, its movement in relation to the object, a robot control system determining the path of the robot in a robot coo

An industrial robot has a sensor mounted on a hand of the robot which senses the position of an object relative to the sensor. The sensor controls, during automatic operation of the robot, its movement in relation to the object, a robot control system determining the path of the robot in a robot coordinate system on the basis of measurement signals from the sensor. For calibration of the sensor, the sensor is automatically moved to a number of points connected to a calibration object with a known position in the robot coordinate system. At each point a number of measurements of the position of the object in relation to the sensor are made. On the basis of the measurements, those transformations are determined which transform the measurement signals of the sensor to the position of the measuring point in the robot coordinate system.

대표청구항 ▼

A method for calibrating a sensor of an industrial robot which is mounted on a hand of the robot, the sensor being adapted to sense the position, relative to the sensor, of an object, the robot having a control system adapted, during automatic operation, to control the robot in a path defined by poi

A method for calibrating a sensor of an industrial robot which is mounted on a hand of the robot, the sensor being adapted to sense the position, relative to the sensor, of an object, the robot having a control system adapted, during automatic operation, to control the robot in a path defined by points in a robot coordinate system, wherein a calibration program is automatically carried out by the control system, during which the sensor is moved to a number of points differently positioned relative to a calibration object located at a known position in the robot coordinate system, a number of measurements are taken at each of said number of points of the position of the calibration object relative to the sensor, and on the basis of the measurements, transformations are determined which transform the values measured by means of the sensor to the position of the measuring point in the robot coordinate system.