| 摘要 |
<p>The present invention relates to a method for calibration of a base coordinate system of an industrial robot (1 ) in relation to a work area, the robot having a base portion (6) and a robot wrist interface movable in at least four degrees of freedom with respect to the base portion. The method comprises: - mounting a first part (14) of a kinematic coupling which is constrained in the same number of degrees of freedom as the robot, on the robot wrist interface (11 ) of the robot, - mounting a second part (16) of the kinematic coupling in the work area, - moving the robot including the base portion to the work area, - set the robot in compliant control mode, - move the first part of the kinematic coupling to mate with the second part, - storing axis positions of the robot during mating of the kinematic coupling, - determining the position and orientation of the base portion based on the stored axis positions and a kinematic model of the robot, and on basis thereon calibrating the base coordinate system of the robot.</p> |
