Method and device for calibration of movement axes of an industr

Details Method and device for calibration of movement axes of an industr Method and device for calibration of movement axes of an industr

1994-10-25

1997-11-11

Davis, George B.

Electricity: motive power systems

Motor-reversing

Armature or primary circuit control

31856813, B25J 922, G06F 1546

Patent

active

056872933

ABSTRACT:
In a calibration method for an industrial robot (2-6), a calibration tool (8) supported by the robot hand (6) is brought into contact a spherical calibration body (7) with a known radius. Thereafter, the output signals from the position transducers of the robot axes are read and stored. This method is repeated a plurality of times with different robot configurations. Thereafter, the calibration parameters of the robot are calculated starting from the kinematic equations of the robot, a model of the relationship between axial position and position transducer signal, the known radius of the calibration body, and the read and stored position transducer signals.

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patent: 4811248 (1989-03-01), Senoh et al.
patent: 4831232 (1989-05-01), Andersson et al.
patent: 4875177 (1989-10-01), Jarman
patent: 4979127 (1990-12-01), Mizuno et al.
patent: 5056031 (1991-10-01), Nakano et al.
patent: 5528116 (1996-06-01), Snell

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