公开(公告)号：WO2009132703A1

公开(公告)日：2009-11-05

申请号：PCT/EP2008/055304

申请日：2008-04-30

Applicant: ABB TECHNOLOGY AB ,  FIXELL, Peter

Inventor： FIXELL, Peter

IPC: B25J9/16 ,  G05B19/401

CPC classification number: B25J9/1692 ,  G05B19/4015 ,  G05B2219/39021 ,  G05B2219/50026 ,  G05B2219/50036

Abstract: The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot (1) and a robot coordinate system. The method comprises: attaching a first calibration object (10) in a fixed relation to the robot, determining the position of the first calibration object in relation to the robot, locating at least three second calibration objects (14, 15, 16) in the working range of the robot, wherein at least one of the calibration objects is a male calibration object having a protruding part shaped as a sphere, and at least one of the calibration objects is a female calibration object comprising at least two nonparalIeI, inclining surfaces arranged to receive the sphere so that the sphere is in contact with the surfaces in at least one reference position, determining a reference position for each of the second calibration objects in the local coordinate system, for each second calibration object moving the robot until the sphere is in mechanical contact with the surfaces of the calibration object, reading the position of the robot when the sphere is in mechanical contact with all of the surfaces, and calculating the relation between the local coordinate system and the robot coordinate system based on the position of the first calibration object in relation to the robot, the reference positions of the second calibration objects in the local coordinate system, and the positions of the robot when the sphere is in mechanical contact with the surfaces of the second calibration objects.

Abstract translation: 本发明涉及一种用于确定位于工业机器人（1）的工作范围内的局部坐标系与机器人坐标系之间的关系的方法和系统。 该方法包括：将第一校准物体（10）以固定关系附接到机器人，确定第一校准物体相对于机器人的位置，将至少三个第二校准物体（14,15,16）定位在 所述机器人的工作范围，其中所述校准对象中的至少一个是具有形状为球体的突出部分的雄性校准对象，并且所述校准对象中的至少一个是雌性校准对象，所述雌性校准对象包括至少两个非平行倾斜表面， 接收球体使得球体与至少一个参考位置中的表面接触，确定用于局部坐标系中的每个第二校准物体的参考位置，对于移动机器人的每个第二校准物体，直到球体为 与校准对象的表面机械接触时，当球体与所有表面机械接触时读取机器人的位置，a 基于第一校准对象相对于机器人的位置，局部坐标系中的第二校准对象的参考位置和机器人的位置来计算局部坐标系和机器人坐标系之间的关系 球体与第二校准物体的表面机械接触。

公开(公告)号：WO2008145184A1

公开(公告)日：2008-12-04

申请号：PCT/EP2007/055248

申请日：2007-05-30

Applicant: ABB TECHNOLOGY AB ,  FIXELL, Peter ,  BRIKHO, Samuel

Inventor： FIXELL, Peter ,  BRIKHO, Samuel

IPC: G05B19/401

CPC classification number: G05B19/401 ,  G05B2219/37376 ,  G05B2219/39024 ,  G05B2219/40272 ,  G05B2219/49195

Abstract: The present invention relates to an apparatus and a method for automatically calibrating a linear track (20) along which a device is moving while it is performing work. The method comprises: moving a mechanical unit (18), provided with a first angle- measuring sensor (1) arranged for measuring an angle relative to the vertical line about a first measuring axis and a second angle-measuring sensor (2) arranged for measuring an angle relative to the vertical line about a second measuring axis essentially perpendicular to the measuring axis of the first angle-measuring sensor, along the track, receiving angular measurements from both angle-measuring sensors for a plurality of locations along the track, and calculating vertical changes in position along the length of the track for both sides of the track based on the received angular measurements from both angle-measuring sensors.

Abstract translation: 本发明涉及一种用于在正在进行工作时自动校准装置正在移动的线性轨道（20）的装置和方法。 该方法包括：移动机械单元（18），该机械单元设置有第一角度测量传感器（1），该第一角度测量传感器设置成围绕第一测量轴线测量相对于垂直线的角度;以及第二角度测量传感器（2） 沿着所述轨道测量相对于所述垂直线的相对于基本上垂直于所述第一角度测量传感器的测量轴线的第二测量轴线的角度，从沿着所述轨道的多个位置的两个角度测量传感器接收角度测量值，以及 基于来自两个角度测量传感器的接收的角度测量，计算轨道的两侧的轨道的长度上的位置的垂直变化。

公开(公告)号：EP2268459B1

公开(公告)日：2011-11-09

申请号：EP08749900.0

申请日：2008-04-30

Applicant: ABB Technology AB

Inventor： FIXELL, Peter

IPC: B25J9/16 ,  G05B19/401

CPC classification number: B25J9/1692 ,  G05B19/4015 ,  G05B2219/39021 ,  G05B2219/50026 ,  G05B2219/50036

Abstract: The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot (1) and a robot coordinate system. The method comprises: attaching a first calibration object (10) in a fixed relation to the robot, determining the position of the first calibration object in relation to the robot, locating at least three second calibration objects (14, 15, 16) in the working range of the robot, wherein at least one of the calibration objects is a male calibration object having a protruding part shaped as a sphere, and at least one of the calibration objects is a female calibration object comprising at least two nonparalIeI, inclining surfaces arranged to receive the sphere so that the sphere is in contact with the surfaces in at least one reference position, determining a reference position for each of the second calibration objects in the local coordinate system, for each second calibration object moving the robot until the sphere is in mechanical contact with the surfaces of the calibration object, reading the position of the robot when the sphere is in mechanical contact with all of the surfaces, and calculating the relation between the local coordinate system and the robot coordinate system based on the position of the first calibration object in relation to the robot, the reference positions of the second calibration objects in the local coordinate system, and the positions of the robot when the sphere is in mechanical contact with the surfaces of the second calibration objects.

Abstract translation: 本发明涉及用于确定位于工业机器人（1）的工作范围内的局部坐标系和机器人坐标系之间的关系的方法和系统。 该方法包括：以固定的关系将第一校准对象（10）附接到机器人，确定第一校准对象相对于机器人的位置，将至少三个第二校准对象（14,15,16）定位在 其中至少一个校准物体是具有成形为球体的突出部分的公校准物体，并且至少一个校准物体是包括至少两个非平行倾斜表面的母校准物体 接收球体以使得球体与至少一个参考位置中的表面接触，针对移动机器人的每个第二校准对象确定局部坐标系统中的每个第二校准对象的参考位置，直到球体为止 与校准物体的表面机械接触，当球体与所有表面机械接触时读取机器人的位置，a 根据第一校准对象相对于机器人的位置，第二校准对象在局部坐标系中的参考位置以及机器人在当前位置时的机器人位置来计算局部坐标系与机器人坐标系之间的关系 球体与第二校准物体的表面机械接触。

公开(公告)号：EP2268459B9

公开(公告)日：2012-03-21

申请号：EP08749900.0

申请日：2008-04-30

Applicant: ABB Technology AB

Inventor： FIXELL, Peter

IPC: B25J9/16 ,  G05B19/401

CPC classification number: B25J9/1692 ,  G05B19/4015 ,  G05B2219/39021 ,  G05B2219/50026 ,  G05B2219/50036

Abstract: The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot (1) and a robot coordinate system. The method comprises: attaching a first calibration object (10) in a fixed relation to the robot, determining the position of the first calibration object in relation to the robot, locating at least three second calibration objects (14, 15, 16) in the working range of the robot, wherein at least one of the calibration objects is a male calibration object having a protruding part shaped as a sphere, and at least one of the calibration objects is a female calibration object comprising at least two nonparalIeI, inclining surfaces arranged to receive the sphere so that the sphere is in contact with the surfaces in at least one reference position, determining a reference position for each of the second calibration objects in the local coordinate system, for each second calibration object moving the robot until the sphere is in mechanical contact with the surfaces of the calibration object, reading the position of the robot when the sphere is in mechanical contact with all of the surfaces, and calculating the relation between the local coordinate system and the robot coordinate system based on the position of the first calibration object in relation to the robot, the reference positions of the second calibration objects in the local coordinate system, and the positions of the robot when the sphere is in mechanical contact with the surfaces of the second calibration objects.

公开(公告)号：EP2268459A1

公开(公告)日：2011-01-05

申请号：EP08749900.0

申请日：2008-04-30

Applicant: ABB Technology AB

Inventor： FIXELL, Peter

IPC: B25J9/16 ,  G05B19/401

CPC classification number: B25J9/1692 ,  G05B19/4015 ,  G05B2219/39021 ,  G05B2219/50026 ,  G05B2219/50036

Abstract: The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot (1) and a robot coordinate system. The method comprises: attaching a first calibration object (10) in a fixed relation to the robot, determining the position of the first calibration object in relation to the robot, locating at least three second calibration objects (14, 15, 16) in the working range of the robot, wherein at least one of the calibration objects is a male calibration object having a protruding part shaped as a sphere, and at least one of the calibration objects is a female calibration object comprising at least two nonparalIeI, inclining surfaces arranged to receive the sphere so that the sphere is in contact with the surfaces in at least one reference position, determining a reference position for each of the second calibration objects in the local coordinate system, for each second calibration object moving the robot until the sphere is in mechanical contact with the surfaces of the calibration object, reading the position of the robot when the sphere is in mechanical contact with all of the surfaces, and calculating the relation between the local coordinate system and the robot coordinate system based on the position of the first calibration object in relation to the robot, the reference positions of the second calibration objects in the local coordinate system, and the positions of the robot when the sphere is in mechanical contact with the surfaces of the second calibration objects.