초록 ▼

The present invention provides a method for calibration of pose of a tool center point (TCP) of a robot controlled tool with respect to a tool sensor means in which the robot controlled tool is attached at an end-point of the robot. The method provides a reference fixture with at least four topograp

The present invention provides a method for calibration of pose of a tool center point (TCP) of a robot controlled tool with respect to a tool sensor means in which the robot controlled tool is attached at an end-point of the robot. The method provides a reference fixture with at least four topographically defined features, the reference fixture having a preselected first pose with respect to a robot frame of reference. A TCP sensor is located in a preselected second pose with respect to the reference fixture for sensing position of the tool center point. The method includes positioning the tool sensor so that the reference fixture is in a field of view of the tool sensor and calculating a pose of the robot end point with respect to the robot frame of reference, calculating a pose of the reference fixture with respect to the tool sensor means from a sensed position of the four topographically defined features of the reference fixture, and calculating a position of the tool center point with respect to the reference fixture from a sensed position of the tool center point with respect to the TCP sensor means. The position of the tool center point is calculated with respect to the tool sensor means and the robot end-point.

대표청구항 ▼

[ I claim:] [1.] A method for calibration of pose of a tool center point (TCP) of a robot controlled tool with respect to a tool sensor means, the robot controlled tool being attached at an end-point of said robot, and the tool sensor means being affixed to the end-point of the robot and spaced from

[ I claim:] [1.] A method for calibration of pose of a tool center point (TCP) of a robot controlled tool with respect to a tool sensor means, the robot controlled tool being attached at an end-point of said robot, and the tool sensor means being affixed to the end-point of the robot and spaced from the robot controlled tool, comprising:a) providing a reference fixture with at least four topographically defined features, said reference fixture having a preselected first pose with respect to a robot frame of reference, providing a TCP sensor means in a preselected second pose with respect to said reference fixture for sensing position of said tool center point;b(i) positioning said tool sensor means so that said reference fixture is in a field of view of said tool sensor means,b(ii) calculating a pose of said robot end point with respect to said robot frame of reference,b(iii) calculating a pose of said reference fixture with respect to said tool sensor means from a sensed position of said four topographically defined features of said reference fixture,b(iv) calculating a position of said tool center point with respect to said reference fixture from a sensed position of said tool center point with respect to said TCP sensor means; andc) calculating a position of said tool center point with respect to said tool sensor means and said robot end-point from said first and second poses and said poses calculated in steps b(ii) and b(iii) and the calculated tool center point position in step b(iv).