Vision correction method for tool center point of a robot manipulator
First Claim
1. A vision correction method for tool center point (TCP) of a robot manipulator, the robot manipulator comprising a main body, a drive mechanism, a controller for controlling the drive mechanism, a tool assembled to a distal end of the main body and having the TCP, and a vision lens positioned to one side of the tool;
- the robot manipulator predefining a basic coordinate system having three axes, the vision correction method comprising the following steps;
defining a preset position P0 of the TCP and establishing a preset coordinate system TG based on the preset position P0, defining the actual position of the TCP as P1;
capturing a picture of the actual TCP and establishing a two-dimensional visual coordinate system TV based on the picture, defining the corresponding coordinate of the actual TCP formed within the two-dimensional visual coordinate system TV as P1′
;
calculating a scaling ratio λ
of the vision coordinate system TV relative to the preset coordinate system TG;
driving the tool to rotate relative to one axis of the preset coordinate system TG by θ
1 degrees, and obtaining the coordinate value P2 of the TCP of the tool;
capturing a picture of the actual TCP and obtaining the corresponding coordinate P2′
of the actual TCP formed within the visual coordinate system TV;
driving the tool to rotate relative to another axis of the preset coordinate system TG by θ
2 degrees, and then obtaining the coordinate value P3 of the TCP of the tool;
capturing a picture of the actual TCP and obtaining the corresponding coordinate P3′
of the actual TCP formed within the visual coordinate system TV;
calculating a deviation Δ
P between the preset position P0 and the actual position P1 of the TCP, and then comparing the deviation Δ
P with a maximum allowable deviation of the robot manipulator;
wherein, if the deviation Δ
P is less than or equal to the maximum allowable deviation of the robot manipulator, the preset position P0 of the TCP is thereby considered as the actual position P1 of the TCP and finishing the coordinate correction work;
if the deviation Δ
P is greater than the maximum allowable deviation of the robot manipulator, then, amending the position parameters of the preset position P0 of the TCP, and repeating the vision correction method for tool center point till the final deviation is less than or equal to the maximum allowable deviation of the robot manipulator.
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Abstract
A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system TG with the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system TG to establish a visual coordinate system TV; calculating a scaling ratio λ of the vision coordinate system TV relative to the preset coordinate system TG; rotating the TCP relative to axes of the preset coordinate system TG; capturing pictures of the TCP prior to and after rotation; calculating the deviation ΔP between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system TG using ΔP, and repeating the rotation through correction steps until ΔP is less than or equal to a maximum allowable deviation of the robot manipulator.
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Citations
13 Claims
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1. A vision correction method for tool center point (TCP) of a robot manipulator, the robot manipulator comprising a main body, a drive mechanism, a controller for controlling the drive mechanism, a tool assembled to a distal end of the main body and having the TCP, and a vision lens positioned to one side of the tool;
- the robot manipulator predefining a basic coordinate system having three axes, the vision correction method comprising the following steps;
defining a preset position P0 of the TCP and establishing a preset coordinate system TG based on the preset position P0, defining the actual position of the TCP as P1; capturing a picture of the actual TCP and establishing a two-dimensional visual coordinate system TV based on the picture, defining the corresponding coordinate of the actual TCP formed within the two-dimensional visual coordinate system TV as P1′
;calculating a scaling ratio λ
of the vision coordinate system TV relative to the preset coordinate system TG;driving the tool to rotate relative to one axis of the preset coordinate system TG by θ
1 degrees, and obtaining the coordinate value P2 of the TCP of the tool;
capturing a picture of the actual TCP and obtaining the corresponding coordinate P2′
of the actual TCP formed within the visual coordinate system TV;driving the tool to rotate relative to another axis of the preset coordinate system TG by θ
2 degrees, and then obtaining the coordinate value P3 of the TCP of the tool;
capturing a picture of the actual TCP and obtaining the corresponding coordinate P3′
of the actual TCP formed within the visual coordinate system TV;calculating a deviation Δ
P between the preset position P0 and the actual position P1 of the TCP, and then comparing the deviation Δ
P with a maximum allowable deviation of the robot manipulator;wherein, if the deviation Δ
P is less than or equal to the maximum allowable deviation of the robot manipulator, the preset position P0 of the TCP is thereby considered as the actual position P1 of the TCP and finishing the coordinate correction work;
if the deviation Δ
P is greater than the maximum allowable deviation of the robot manipulator, then, amending the position parameters of the preset position P0 of the TCP, and repeating the vision correction method for tool center point till the final deviation is less than or equal to the maximum allowable deviation of the robot manipulator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
- the robot manipulator predefining a basic coordinate system having three axes, the vision correction method comprising the following steps;
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9. A vision correction method for tool center point of a robot manipulator, the robot manipulator comprising a main body, a drive mechanism, a tool assembled to a distal end of the main body and having a tool center point (TCP), and a vision lens positioned aside of the tool;
- the robot manipulator predefining a basic coordinate system T0, the vision correction method comprising the following steps;
defining a preset position P0 of the TCP and establishing a preset coordinate system TG based on the preset position P0, defining the actual position of the TCP as P1;
defining the deviation between the preset position P0 of the TCP and the actual position P1 of the TCP as Δ
P (Δ
x, Δ
y, Δ
z);
the preset coordinate system TG comprising three coordinate axes XG-axis, YG-axis and ZG-axis positioned parallel to the corresponding three coordinate axes X-axis, Y-axis and Z-axis of the basic coordinate system T0 respectively, the coordinate value of the origin P0 of the preset coordinate system TG being stored into the controller;capturing a picture of the actual TCP and establishing a two-dimensional visual coordinate system TV based on the picture, defining the corresponding coordinate of the actual TCP formed within the two-dimensional visual coordinate system TV as P1′
;calculating a scaling ratio λ
of the vision coordinate system TV relative to the preset coordinate system TG;driving the tool to rotate relative to the ZG-axis direction of the preset coordinate system TG by about 180 degrees, capturing a picture of the TCP of the tool thereby obtaining the coordinate value of the TCP of the tool relative to the vision coordinate system TV, and then calculating the value of Δ
x;driving the tool to move back to its original position, and rotating the tool relative to the ZG-axis direction of the preset coordinate system TG by about 90 degrees, capturing a picture of the TCP of the tool thereby obtaining the coordinate value of the TCP of the tool relative to the vision coordinate system TV, and then calculating the value of Δ
y;driving the tool to move back to its original position, and rotating the TCP of the tool relative to the YG-axis direction of the preset coordinate system TG by about 90 degrees, capturing a picture of the TCP thereby obtaining the coordinate value of the TCP relative to the vision coordinate system TV, and then calculating the value of Δ
z;calculating the deviation Δ
P (Δ
x, Δ
y, Δ
z) and comparing the deviation Δ
P with a maximum allowable deviation of the robot manipulator;wherein, if the deviation Δ
P is less than or equal to the maximum allowable deviation of the robot manipulator, the preset position P0 of the TCP is then considered as the actual position P1 of the TCP thereby finishing the coordinate correction work;
if the deviation Δ
P is greater than the maximum allowable deviation of the robot manipulator, then, amending the position parameters of the preset position P0 of the TCP, and repeating the vision correction method for tool center point till the final deviation is less than or equal to the maximum allowable deviation of the robot manipulator. - View Dependent Claims (10, 11, 12, 13)
- the robot manipulator predefining a basic coordinate system T0, the vision correction method comprising the following steps;
Specification