Invention Grant
- Patent Title: Calibration method for tool center point of a robot manipulator
- Patent Title (中): 机器人机械手工具中心点的校准方法
-
Application No.: US13648416Application Date: 2012-10-10
-
Publication No.: US09002516B2Publication Date: 2015-04-07
- Inventor: Long-En Chiu , Yong Wu
- Applicant: Long-En Chiu , Yong Wu
- Applicant Address: CN Shenzhen TW New Taipei
- Assignee: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd.,Hon Hai Precision Industry Co., Ltd.
- Current Assignee: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd.,Hon Hai Precision Industry Co., Ltd.
- Current Assignee Address: CN Shenzhen TW New Taipei
- Agency: Novak Druce Connolly Bove + Quigg LLP
- Priority: CN201110356649 20111111
- Main IPC: G05B19/04
- IPC: G05B19/04 ; G01L25/00 ; B25J9/16
Abstract:
A calibration method for calibration a tool center point for a robot manipulator includes the steps of: driving the tool to move above one of the inclined surfaces; defining a preset coordinate system TG; rotating the TCP relative to the UG-axis by about 180 degrees, calculating the value of Δw; updating the position parameters of the preset TCP, defining a new preset coordinate system TG′; rotating the TCP relative to the UG′-axis by about 90 degrees, calculating the value of Δv; updating the position parameters of the new preset TCP, defining a new preset coordinate system TG″; driving the tool to move above a planar horizontal surface; rotating the TCP relative to a axis by about 30 degrees, calculating the value of Δu; repeating the aforementioned steps until the deviation ΔP (Δw, Δv, Δu) is less than or equal to a maximum allowable deviation of the robot manipulator.
Public/Granted literature
- US20130123982A1 CALIBRATION METHOD FOR TOOL CENTER POINT OF A ROBOT MANIPULATOR Public/Granted day:2013-05-16
Information query
IPC分类:
