Calibration of a base coordinate system for an industrial robot

• US 8,467,901 B2
• Filed: 09/11/2012
• Issued: 06/18/2013
• Est. Priority Date: 03/18/2010
• Status: Active Grant

• Current Assignee: ABB Schweiz AG (ABB Limited)
• Original Assignee: ABB Research Ltd. (ABB Limited)
• Inventors: Brogardh, Torgny
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): OH, HARRY Y
• Application Number:
  US13/610,010
• Publication Number:
  US 20130006421A1
• Time in Patent Office: 280 Days
• Field of Search: 700/254
• US Class Current: 700/254
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/39027 Calibrate only some links, part of dofs, lock some links, ref pins on links
• CPC Class Codes: G05B 2219/39032 Touch probe senses constraint known plane, derive kinematic calibration

Abstract

A method for calibration of a base coordinate system of an industrial robot in relation to a work area includes:

• • mounting a first part of a kinematic coupling which is constrained in the same number of degrees of freedom as the robot, on the robot wrist interface of the robot,
  • mounting a second part of the kinematic coupling in the work area,
  • moving the robot including the base portion to the work area,
  • set the robot in compliant control mode,
  • move the first part of the kinematic coupling to mate with the second part,
  • storing axis positions of the robot during mating of the kinematic coupling,
  • determining the position and orientation of the base portion based on the stored axis positions and a kinematic model of the robot, and on basis thereon calibrating the base coordinate system of the robot.

Claims

1. A kinematic coupling for calibration of a base coordinate system of an industrial robot with at least five degrees of freedom in relation to a work area at which the robot shall carry out work, characterized in that the coupling comprises a first part and a second part movable relative each other, wherein one of the parts is designed to be carried by the robot and the other part is designed to be positioned in the work area of the robot, and one of the parts is provided with a first convex surface and the other part is provided with a recess designed to receive the first convex surface and the recess includes three non parallel plane surfaces designed to simultaneously be in contact with the first convex surface during calibration of the robot, one of the parts includes a second and a third convex surface, and the other part includes a fourth plane surface designed to simultaneously be in contact with the second and third convex surface at the same time as the first convex surface is in contact with said three plane surfaces during calibration of the robot.

2. The kinematic coupling according to claim 1, wherein one of the parts includes a fourth convex surface, and the other part includes a fifth plane surface designed to be in contact with the fourth convex surface at the same time as the first convex surface is in contact with said three plane surfaces and the second and third convex surface are in contact with the fourth plane surface during calibration of the robot, and the fourth and fifth surfaces are non parallel.

3. A method for calibration of a base coordinate system of an industrial robot in relation to a work area at which the robot shall carry out work, the robot having a base portion a robot wrist interface movable in at least four degrees of freedom with respect to the base portion, the method comprises:

mounting a first part of a kinematic coupling which is constrained in the same number of degrees of freedom as the robot, on the robot wrist interface of the robot,

mounting a second part of the kinematic coupling in the work area,

moving the robot including the base portion to the work area,

set the robot in compliant control mode,

move the first part of the kinematic coupling to mate with the second part to define at least four degrees of freedom of the movable part of the robot,

storing axis positions of the robot at mating of the kinematic coupling,

determining the position and orientation of the base portion based on the stored axis positions and a kinematic model of the robot, and on basis thereon calibrating the base coordinate system of the robot.

4. The method according to claim 3, wherein the method further comprises:

programming the robot in the calibrated base coordinate system, thereby creating a robot program including information on the base coordinate system,

moving the robot including the base portion to a second position in the robot cell,

setting the robot in compliant control mode,

moving the first part of the kinematic coupling to mate with the second part,

storing the axis positions of the robot during mating of the kinematic coupling, and

calculating the new position and orientation of the base coordinate system based on the stored axis positions and a kinematic model of the robot, and

updating the base coordinate system in the robot program.

5. The method according to claim 3, wherein the first part of the kinematic coupling is moved by lead through to mate with the second part.

6. The method according to claim 3, wherein the kinematic coupling used is a kinematic coupling comprising a first part and a second part movable relative each other, wherein one of the parts is designed to be carried by the robot and the other part is designed to be positioned in the work area of the robot, and one of the parts is provided with a first convex surface and the other part is provided with a recess designed to receive the first convex surface and the recess includes three non-parallel plane surfaces designed to simultaneously be in contact with the first convex surface during calibration of the robot, one of the parts includes a second convex surface and the other part includes a fourth plane surface designed to be in contact with the second convex surface at the same time as the first convex surface is in contact with said three plane surfaces during calibration of the robot.

7. The method according to claim 3, wherein the kinematic coupling used is a kinematic coupling for calibration of a base coordinate system of an industrial robot with at least five degrees of freedom in relation to a work area at which the robot shall carry out work characterized in that the coupling comprises a first part and a second part movable relative each other, wherein one of the parts is designed to be carried by the robot and the other art is designed to be positioned in the work area of the robot, and one of the parts is provided with a first convex surface and the other part is provided with a recess designed to receive the first convex surface and the recess includes three non parallel plane surfaces designed to simultaneously be in contact with the first convex surface during calibration of the robot one of the parts includes a second and a third convex surface, and the other part includes a fourth plane surface designed to simultaneously be in contact with the second and third convex surface at the same time as the first convex surface is in contact with said three plane surfaces during calibration of the robot.