Methods, systems, and apparatus for calibration of an orientation between an end effector and an article

摘要

Disclosed are methods adapted to aid in a calibration of a robotic end effector. The method includes providing a robotic component having an end effector and a light beam sensor provided in a fixed orientation to the end effector fingers, rotating a light beam of the light beam sensor relative to a geometrical calibration feature of a teach tool mounted in an approximately known orientation to an article, and determining a precise location (e.g., center) of the geometrical calibration feature based upon engagement of the light beam with edges of the geometrical calibration feature. In another aspect, a rotational orientation of the fingers of the end effector are calibrated using the teach tool. A novel teach tool and a robot calibration system including the teach tool are disclosed, as are other aspects.

主权项

1. A method of calibrating a position of an article relative to an end effector of a robot, comprising:
providing a robotic component having the end effector with end effector fingers that are moveable relative to one another and a light beam sensor provided in a fixed orientation to the end effector fingers and oriented to determine whether the end effector fingers have an item to grasp; providing a teach tool at an approximately known location on the article within a work envelope reachable by the end effector, the teach tool having a geometrical calibration feature; positioning the end effector with the light beam sensor at a first location proximate to the geometrical calibration feature, the geometrical calibration feature adapted for use to determine a positional calibration; rotating the end effector about the centerline axis of the end effector and sensing with the light beam sensor a first engagement edge of the geometrical calibration feature of the teach tool; rotating the end effector about the centerline axis of the end effector and sensing with the light beam sensor a second engagement edge of the geometrical calibration feature of the teach tool; and using the sensing of the first engagement edge and the second engagement edge to calibrate a position of the article relative to the end effector of the robot.