Method for calibrating tool centre point for industrial robot system

• US 10,160,116 B2
• Filed: 08/30/2016
• Issued: 12/25/2018
• Est. Priority Date: 04/30/2014
• Status: Active Grant

• Current Assignee: ABB Schweiz AG (ABB Limited)
• Original Assignee: ABB Schweiz AG (ABB Limited)
• Inventors: Li, Jinsong, Gu, Hao, Chi, Yonglin, Xu, Yan
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/251,366
• Publication Number:
  US 20160368147A1
• Time in Patent Office: 847 Days
• Field of Search: 700245-264
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/39024 Calibration of manipulator
• CPC Class Codes: G05B 2219/39025 Spheric tool interrupts transmitted calibration beam, in different configurations

Abstract

A method is disclosed for calibrating a tool center point of tool for an industrial robot system. The method can include moving a first part of said tool and a cross beam sensor by said industrial robot; recording a first posture and a second posture of said industrial robot during the interruptions of a first beam and a second beam of a cross beam sensor; moving a second part of said tool and said cross beam sensor by said industrial robot; recording a third posture and a fourth posture of said industrial robot; calculating the tool orientation in consideration of said first posture, second posture, third posture and fourth posture of said industrial robot; and moving said tool and said cross beam sensor by said industrial robot so that said tool center point of said tool interrupts said crossing point of said cross beam sensor.

Claims

1. A method for calibrating a tool centre point of a tool for an industrial robot system comprising a cross beam sensor that has a first beam and a second beam which are angled to each other with a vertex angle greater than zero and cross each other at a crossing point, including:

(a) relatively moving a first part of said tool and a cross beam sensor by said industrial robot with translational motion in an orientation so that said first part of said tool respectively interrupts said first beam and said second beam of said cross beam sensor;

(b) recording a first posture and a second posture of said industrial robot during the interruptions of said first beam and said second beam of said cross beam sensor by said first part of said tool;

(c) relatively moving a second part of said tool and said cross beam sensor by said industrial robot with translational motion in said orientation so that said second part of said tool respectively interrupts said first beam and said second beam of said cross beam sensor;

(d) recording a third posture and a fourth posture of said industrial robot during the interruptions of said first beam and said second beam of said cross beam sensor by said second part of said tool;

(e) calculating the tool orientation in consideration of said first posture, second posture, third posture and fourth posture of said industrial robot as well as said first beam direction and said second beam direction; and

(f) relatively moving said tool and said cross beam sensor by said industrial robot so that said tool centre point of said tool interrupts said crossing point of said cross beam sensor in consideration of said tool orientation and either the first and the second postures or the third and the fourth postures of said industrial robot.

3. A The method according to claim 1, further including:

performing in a first round the steps (a), (b), (c), (d) and (e) where said tool assumes a first orientation of four different orientations with respect to said cross beam sensor;

repeating for a second, a third and a fourth rounds the same steps as in round 1 except for step (e) where said tool respectively assumes a second, a third and a fourth orientation of said four different orientations with respect to said cross beam sensor as regards the second, the third and the fourth rounds said tool orientation considered in step (f) is the same as that calculated by step (e);

for each of said four rounds, recording a fifth, a sixth, a seventh and an eighth posture of said industrial robot respectively during the interruptions of said crossing point of the first beam and the second beam of said cross beam sensor by said tool centre point of said tool; and

calculating the tool centre point position in consideration of the fifth, the sixth, the seventh and the eighth posture of said industrial robot;

wherein;

said tool is attached to wrist of said industrial robot; and

said cross beam sensor is fixed with respect to said industrial robot during said relative movement between said cross beam sensor and said tool.

4. The method according to claim 1, further including:

performing in a first round the steps (a), (b), (c), (d) and (e) where said tool assumes a first orientation of four different orientations with respect to said cross beam sensor;

repeating for a second, a third and a fourth rounds the same steps as in round 1 except for step (e) where said tool respectively assumes a second, a third and a fourth orientation of said four different orientations with respect to said cross beam sensor and as regards the second, the third and the fourth rounds said tool orientation considered in step (f) is the same as that calculated by step (e);

for each of said four rounds, recording a fifth, a sixth, a seventh and an eighth posture of said industrial robot respectively during the interruptions of said crossing point of the first beam and the second beam of said cross beam sensor by said tool centre point of said tool; and

calculating the tool centre point position in consideration of the fifth, the sixth, the seventh and the eighth posture of said industrial robot;

wherein;

said cross beam sensor is attached to wrist of said industrial robot;

said tool is fixed with respect to said industrial robot during said relative movement between said cross beam sensor and said tool.

6. The method according to claim 3, wherein:

said tool orientation is represented with respect to said industrial robot coordinate system;

said first, second, third and fourth postures of said industrial robot are represented with respect to said industrial robot system; and

said fifth, sixth, seventh and eighth postures of said industrial robot are represented with respect to said industrial robot system.

7. The method according to claim 1, wherein:

the first part and the second part of said tool are separately disposed on a linear portion of said tool.

8. The method according to claim 1, wherein:

each of said first, second, third and fourth postures of said industrial robot is determined by averaging the posture of the respective one at the instant of the interruption of the beam and that at the subsequent release of the beam.

9. The method according to claim 1, wherein:

each of said first, second, third and fourth postures of said industrial robot is determined by averaging the posture of the respective one at the instant of the interruption of the beam from one side and that from the opposite side.

10. The method according to claim 1, wherein:

each of said first, second, third and fourth postures of said industrial robot is determined by averaging the posture of the respective one at the instant of release of the beam from one side and that from the opposite side.

11. The method according to claim 1, wherein:

said tool is a linear-displacement sensor.

12. The method according to claim 1, wherein:

said tool is replaced by a linear-shaped fixture that is mounted on a peripheral of said industrial robot system.

19. The method according to claim 3, wherein:

the first part and the second part of said tool are separately disposed on a linear portion of said tool.

20. The method according to claim 3, wherein:

each of said first, second, third and fourth postures of said industrial robot is determined by averaging the posture of the respective one at the instant of the interruption of the beam and that at the subsequent release of the beam.

2. A method for calibrating a tool centre point of a tool for an industrial robot system comprising a cross beam sensor that has a first beam and a second beam which are angled to each other with a vertex angle greater than zero and cross each other at a crossing point, including:

(a) relatively moving a first part of said tool and a cross beam sensor by said industrial robot with translational motion in an orientation so that said first part of said tool interrupts said first beam of said cross beam sensor, moves along the first beam direction from the interruption point, and interrupts said second beam of said cross beam sensor at said crossing point of said cross beam sensor;

(b) recording a second posture of said industrial robot where said first part of said tool interrupts said second beam of said cross beam sensor at said crossing point of said cross beam sensor;

(c) relatively moving a second part of said tool and said cross beam sensor by said industrial robot with translational motion in said orientation so that said second part of said tool interrupts said first/second beam of said cross beam sensor, moves along the first/second beam direction from the interruption point, and interrupts said second/first beam of said cross beam sensor at said crossing point of said cross beam sensor;

(d) recording a fourth posture of said industrial robot where said second part of said tool interrupts said second beam of said cross beam sensor at said crossing point of said cross beam sensor;

(e) calculating the tool orientation in consideration of said second posture and said fourth posture of said industrial robot; and

(f) relatively moving said tool and said cross beam sensor by said industrial robot so that said tool centre point of said tool interrupts said crossing point of said cross beam sensor in consideration of said tool orientation and either the second posture or the fourth posture of said industrial robot.

5. The method according to claim 2, wherein:

said tool orientation is represented with respect to said industrial robot wrist coordinate system;

said first, second, third and fourth postures of said industrial robot are represented with respect to said industrial robot system; and

said fifth, sixth, seventh and eighth postures of said industrial robot are represented with respect to said industrial robot system.

13. The method according to claim 2, wherein:

the first part and the second part of said tool are separately disposed on a linear portion of said tool.

14. The method according to claim 2, wherein:

each of said first, second, third and fourth postures of said industrial robot is determined by averaging the posture of the respective one at the instant of the interruption of the beam and that at the subsequent release of the beam.

15. The method according to claim 2, wherein:

each of said first, second, third and fourth postures of said industrial robot is determined by averaging the posture of the respective one at the instant of the interruption of the beam from one side and that from the opposite side.

16. The method according to claim 2, wherein:

each of said first, second, third and fourth postures of said industrial robot is determined by averaging the posture of the respective one at the instant of release of the beam from one side and that from the opposite side.

17. The method according to claim 2, wherein:

said tool is a linear-displacement sensor.

18. The method according to claim 2, wherein:

said tool is replaced by a linear-shaped fixture that is mounted on a peripheral of said industrial robot system.