| 摘要 |
A method and device for calibrating a tool control frame (TCF) (33, 34, and 39) of a robot with respect to a known calibration reference frame (CRF) attached to a robot link. After identifying a calibration feature (1) separate from the robot which is capable of being mapped by the sensory tooling assembly (33, 34), the next step involves causing relative movement (2) between the calibration feature (1) and sensory tooling assembly (33, 34) to bring the calibration feature within the sensing range. The robot configuration is then recorded. This process is repeated by causing relative movement (2) along a known direction such that the calibration feature (1) and sensory tooling assembly (33, 34) are still within sensing range. The actual calibration determination is made by applying coordinate transformations to the initial and secondary configuration data records, to generate a correct terminal control frame (TCF) pose with respect to the CRF. |
