Method and device for calibrating a sensor on an industrial robo

Details Method and device for calibrating a sensor on an industrial robo Method and device for calibrating a sensor on an industrial robo

1987-09-16

1989-03-21

Pellinen, A. D.

Boots, shoes, and leggings

318568, 36457101, 901 3, 901 9, G05B 1910, G05B 1918, B25J 900

Patent

active

048150061

ABSTRACT:
An industrial robot has a sensor mounted on a hand of the robot which senses the position of an object relative to the sensor. The sensor controls, during automatic operation of the robot, its movement in relation to the object, a robot control system determining the path of the robot in a robot coordinate system on the basis of measurement signals from the sensor. For calibration of the sensor, the sensor is automatically moved to a number of points connected to a calibration object with a known position in the robot coordinate system. At each point a number of measurements of the position of the object in relation to the sensor are made. On the basis of the measurements, those transformations are determined which transform the measurement signals of the sensor to the position of the measuring point in the robot coordinate system.

REFERENCES:
patent: 4722063 (1988-01-01), Yasukawa et al.
patent: 4771222 (1988-09-01), Nakashima et al.

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