Method for determining position of virtual bias point relative to coordinate system of industrial robot, involves determining well-known position of virtual bias point for determining position of measuring point in coordinate system

摘要

#CMT# #/CMT# The method involves measuring a measuring point of a calibration equipment in a sensor coordinate system with a known layer in the coordinate system of an industrial robot (1) using a measuring sensor. A position of the measuring point is determined in the measurement system of the robot with respect to axle positions of the robot. A position of a virtual bias point is determined from well-known position of the virtual bias point in the sensor coordinate system for determining the position of the measuring point in the coordinate system of the robot. #CMT# : #/CMT# Independent claims are included for the following: (1) control device of robot; and (2) calibrating equipment. #CMT#USE : #/CMT# Method for determining position of virtual bias point relative to coordinate system of industrial robot. #CMT#ADVANTAGE : #/CMT# The position of the virtual bias point can be determined accurately from the well-known position of the virtual bias point in the sensor coordinate system. #CMT#DESCRIPTION OF DRAWINGS : #/CMT# The drawing shows a schematic view of the industrial robot. (Drawing includes non-English language text) 1 : Industrial robot 2 : Base 3 : Carousel 4 : Pivotable rocker 5 : Robotic arm.