| 摘要 |
The invention relates to a method for calibration of a working point (TCP) for tools ( 13 ) on industrial robots ( 8 ) with a calibration device ( 1 ), comprising at least two light barriers with an azimuth angle (alpha) greater than zero at an angle to each other and intersecting at an intersection point (R), comprising the steps: a) fixing set TCP positional coordinates for a set working point (TCP<SB>SOLL</SB>) for the tool ( 13 ), relative to a tool reference point (W) of the industrial robot ( 8 ) and a TCP coordinate system relative to the working point (TCP), b) moving the tool ( 13 ) directly to the set working point with relation to the TCP coordinate system through the light barriers, such that the tool tip of the tool ( 13 ), corresponding to the working point (TCP), interrupts the light E barriers, c) recording actual TCP positional coordinates on interruption of a light barrier, d) determination of the difference between the set TCP positional coordinates for the interruption of the light barriers for a set working point (TCP<SB>SOLL<SB>) and the corresponding recorded actual TCP positional coordinates for the actual working point (TCP<SB>IST</SB>), e) calculation of deviation of the actual working point (TCP<SB>IST</SB>) from the set working point (TCP<SB>SOLL<ISB>) for the number of levels as defined by the light barriers from the differences and the known position and azimuth angles (a) of the light barriers.
|
