A method for correcting position and orientation of a sensor attached to an industrial robot and a measuring jig used therefor

摘要

The present invention relates to a position and orientation correcting method of a sensor attached to an industrial robot and a measuring jig used in the method. It is essential to find out the relative transformation relation between the coordinate system of the end of the robot and the coordinate system of the sensor when trying to obtain the information necessary to use the robot using the three-dimensional coordinate value of the linear laser vision sensor. In the conventional method, when a tool or a sensor is attached to the end of a robot, a known contact point is used to contact a tool or a sensor to find out the transformation relation of the coordinate system. In this method, the accuracy of the robot is changed according to the operator who manipulates the robot, and the tool or the sensor must be brought into contact with the contact point. In addition, these operations must be done very sophisticatedly, which is a very difficult task for the operator of the production line to operate.;In the present invention, the relative coordinate system conversion between the robot and the linear laser vision sensor is performed by simply moving the robot four times using a specific measuring jig. The coordinate point of the measuring point is measured using a linear laser vision sensor, Through a coordinate system transformation, the relative transformation relation between the coordinate system of the robot end and the coordinate system of the laser vision sensor is obtained. The proposed method not only solves all the difficulties caused by the conventional method, but also ensures the simplicity and accuracy of the operation, and is very convenient and useful method in the automation process using the linear laser sensor attached to the robot.