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公开(公告)号：US11511435B2
公开(公告)日：2022-11-29
申请号：US16612955
申请日：2017-05-22
Applicant: ABB Schweiz AG
Inventor： Anders Lager , Johnny Holmberg , Magnus Wahlström , Michael Stenbacka
Abstract: A method for calibrating a robot coordinate system of a robot with a conveyor coordinate system of a movable conveyor member, the method including providing a sensor configured to detect positions of the robot in a non-contact manner; detecting a position of the robot when the conveyor member is positioned at a first operating position; detecting a position of the robot and/or of the conveyor member by the sensor in the sensor coordinate system when the conveyor member is positioned at a second operating position different from the first operating position; and determining a relationship between the robot coordinate system and the conveyor coordinate system based on at least one detected position of the robot in the sensor coordinate system. A robot system and a control system are also provided.
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公开(公告)号：US20220168902A1
公开(公告)日：2022-06-02
申请号：US17441111
申请日：2019-03-25
Applicant: ABB Schweiz AG
Inventor： Michael Stenbacka , Miguel Fernandez
Abstract: A method and a control arrangement for determining a relation R↔MA between a robot coordinate system of a robot and an MA coordinate system of a moveable apparatus, the movable apparatus including a sensor device and a localization mechanism configured to localize a sensor coordinate system of the sensor device in the MA coordinate system, wherein a marker is arranged in a fixed relation with a reference location on the robot. The method includes positioning the marker in a plurality of different poses in relation to the robot coordinate system. For each pose of the plurality of different poses, the method includes: determining, on the basis of sensor information, a relation C↔M between the sensor coordinate system and a marker coordinate system; determining a relation MA↔C between the MA coordinate system and the sensor coordinate system; determining a relation R↔E between the robot coordinate system and a reference location coordinate system. The method also includes determining the relation R↔MA using the relation C↔M, the relation MA↔C, and the relation R↔E, in the plurality of different poses.
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公开(公告)号：US12036663B2
公开(公告)日：2024-07-16
申请号：US17441111
申请日：2019-03-25
Applicant: ABB Schweiz AG
Inventor： Michael Stenbacka , Miguel Fernandez
CPC classification number: B25J13/06 , B25J9/1692 , B25J9/1697 , G06T7/73 , G06T2207/30204
Abstract: A method and a control arrangement for determining a relation R↔MA between a robot coordinate system of a robot and an MA coordinate system of a moveable apparatus, the movable apparatus including a sensor device and a localization mechanism configured to localize a sensor coordinate system of the sensor device in the MA coordinate system, wherein a marker is arranged in a fixed relation with a reference location on the robot. The method includes positioning the marker in a plurality of different poses in relation to the robot coordinate system. For each pose of the plurality of different poses, the method includes: determining, on the basis of sensor information, a relation C↔M between the sensor coordinate system and a marker coordinate system; determining a relation MA↔C between the MA coordinate system and the sensor coordinate system; determining a relation R↔E between the robot coordinate system and a reference location coordinate system. The method also includes determining the relation R↔MA using the relation C↔M, the relation MA↔C, and the relation R↔E, in the plurality of different poses.
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公开(公告)号：US20200164518A1
公开(公告)日：2020-05-28
申请号：US16612955
申请日：2017-05-22
Applicant: ABB Schweiz AG
Inventor： Anders Lager , Johnny Holmberg , Magnus Wahlström , Michael Stenbacka
Abstract: A method for calibrating a robot coordinate system of a robot with a conveyor coordinate system of a movable conveyor member, the method including providing a sensor configured to detect positions of the robot in a non-contact manner; detecting a position of the robot when the conveyor member is positioned at a first operating position; detecting a position of the robot and/or of the conveyor member by the sensor in the sensor coordinate system when the conveyor member is positioned at a second operating position different from the first operating position; and determining a relationship between the robot coordinate system and the conveyor coordinate system based on at least one detected position of the robot in the sensor coordinate system. A robot system and a control system are also provided.
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