Calibration of a base coordinate system for an industrial robot

摘要

A method for calibration of a base coordinate system of an industrial robot in relation to a work area includes:mounting a first part of a kinematic coupling which is constrained in the same number of degrees of freedom as the robot, on the robot wrist interface of the robot,mounting a second part 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.