METHOD AND SYSTEM FOR CALIBRATION OF HETEROGENEOUS ROBOT

摘要

PURPOSE: A calibration method and system for heterogeneous robots are provided to obtain an offset value according to the error of the real location of the heterogeneous robot. CONSTITUTION: A calibration system for heterogeneous robots comprises a calibration unit(120), a control unit(150), and an information processing unit(140). The calibration unit calculates a plurality of motion information on the target spot of the robot by applying a kinematic library according to kinds of the robots. The control unit moves the robot to the target spot by transmitting a motion control command to controllers. The information processing unit generates measurement information on the real position of the robot by processing measured coordinates. The control unit calculates the axis offset value for correcting errors using difference between the real position and the calculated target position. The control unit corrects the error in the position of the robot. [Reference numerals] (100) Robot control server; (110) Communication unit; (120) Calibration unit; (121) Message processing unit; (122) Motion information generating module; (130) Position detecting unit; (140) Information processing unit; (150) Control unit; (160) Database unit; (200) Robot system; (210) Controller A (robot A kinematics of machinery module); (211) Robot A; (220) Control unit A (robot B kinematics of machinery module); (221) Robot B; (230) Control unit A (robot C kinematics of machinery module); (231) Robot C; (AA) Robot A kinematics of machinery library; (BB) Robot B kinematics of machinery library; (CC) Robot C kinematics of machinery library; (DD, EE, FF) Standard protocol