Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2011-07-12
2011-07-12
Tran, Khoi (Department: 3664)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C901S015000, C901S009000, C700S254000
Reexamination Certificate
active
07979159
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 includes attaching a first calibration object (10) in a fixed relation to the robot and determining the position of the first calibration object in relation to the robot. Then, locating at least three second calibration objects (14,15,16) in the working range of the robot, a reference position for each of the second calibration objects in the local coordinate system can be determined by moving the robot until the first calibration object is in mechanical contact with each second calibration object. By reading the position of the robot when the calibration objects are in mechanical contact the relation between the local coordinate system and the robot coordinate system can be calculated.
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The Written Opinion of the International Searching Authority.
ABB Technology AB
Holloway Jason
Seppo Laine Oy
Tran Khoi
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