Tool center point calibration for spot welding guns
First Claim
1. A method for tool calibration for a robot with a face plate having a tool tip and tool tip axis, said tool tip movable by said robot within a robot envelope, said method comprising the steps of:
- a) providing a calibration means within the robot envelope, wherein said calibration means includes a calibrating member positioned along a calibrating plane;
b) positioning said tool tip to an initial position within said calibrating plane;
c) obtaining values of said robot face plate with said tool tip positioned within said calibrating plane;
d) rotating said tool tip about an estimated tool center point in a first direction to at least a second position and positioning said tool tip within said calibrating plane;
e) obtaining values of said robot face plate with said tool tip within said calibrating plane following said rotation to said second position; and
f) calculating a tool center point based upon said obtained values.
1 Assignment
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Accused Products
Abstract
A method for tool calibration for a robotic tool includes providing a calibration device within a robot envelope. The calibration device includes a calibrating member positioned along a calibrating plane. The tool tip of the robotic tool is positioned to an initial position within the calibrating plane and position values of the robot face plate are obtained. The tool tip is rotated about the estimated or prior tool center point, the tool tip is again positioned within the calibrating plane, and further position values of the robot face plate are obtained. The actual tool center point is calculated from the obtained position values.
44 Citations
15 Claims
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1. A method for tool calibration for a robot with a face plate having a tool tip and tool tip axis, said tool tip movable by said robot within a robot envelope, said method comprising the steps of:
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a) providing a calibration means within the robot envelope, wherein said calibration means includes a calibrating member positioned along a calibrating plane; b) positioning said tool tip to an initial position within said calibrating plane; c) obtaining values of said robot face plate with said tool tip positioned within said calibrating plane; d) rotating said tool tip about an estimated tool center point in a first direction to at least a second position and positioning said tool tip within said calibrating plane; e) obtaining values of said robot face plate with said tool tip within said calibrating plane following said rotation to said second position; and f) calculating a tool center point based upon said obtained values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification