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Method and system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot
Method and system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot
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机译:确定机器人坐标系与位于机器人工作范围内的局部坐标系之间的关系的方法和系统
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摘要
The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot (1) and a robot coordinate system. The method includes attaching a first calibration object (10) in a fixed relation to the robot and determining the position of the first calibration object in relation to the robot. Then, locating at least three second calibration objects (14,15,16) in the working range of the robot, a reference position for each of the second calibration objects in the local coordinate system can be determined by moving the robot until the first calibration object is in mechanical contact with each second calibration object. By reading the position of the robot when the calibration objects are in mechanical contact the relation between the local coordinate system and the robot coordinate system can be calculated.
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