| 摘要 |
A method for calibration of a working point (TCP) for tools on industrial robots with a calibration device includes the use of at least two light barriers with an azimuth angle (α) greater than zero at an angle to each other and intersecting at an intersection point. The method includes fixing set TCP positional coordinates for a set working point for the tool, relative to a tool reference point and a TCP coordinate system relative to the working point, moving the tool to the set working point with relation to the TCP coordinate system through the light barriers, such that the tool tip interrupts the light barriers, recording actual TCP positional coordinates determining the difference between the set TCP positional coordinates for the interruption of the light barriers for a set working point and the corresponding recorded actual TCP positional coordinates for the actual working point, calculating the actual working point from the set working point for the number of levels of light barriers from the differences and the known position and azimuth angles (a) of the light barriers.
|
