发明名称 |
AUTOMATIC CALIBRATION METHOD FOR ROBOT SYSTEMS USING A VISION SENSOR |
摘要 |
An automatic calibration method for a robot system is disclosed. The automatic calibration method for a robot system includes the steps of calibrating a sensor and a sensor coordinate system of the sensor with respect to a world coordinate system, controlling a robot under the guidance of the sensor to move a point of a tool mounted on the robot to reach a same target point with a plurality of different poses, the point of the tool in a tool coordinate system, and calculating a transformation matrix tcpTt of the tool coordinate system with respect to a tool center point coordinate system based on pose data of the robot at the same target point. |
申请公布号 |
EP3105016(A1) |
申请公布日期 |
2016.12.21 |
申请号 |
EP20150703109 |
申请日期 |
2015.01.30 |
申请人 |
Tyco Electronics (Shanghai) Co. Ltd.;Tyco Electronics Corporation |
发明人 |
DENG, Yingcong;ZHAN, Dandan;LU, Roberto Francisco-yi;HU, Lvhai |
分类号 |
B25J9/16 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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