Determining tool centre points on multiaxis manipulator - transforming coordinates of reference point between two Cartesian systems centred on pedestal and hand

摘要

The relevant points (5-7) of the tool (4) are determined w.r.t. a pedestal co-ordinate system (8) as the manipulator (1) approaches an external reference point (10) from which the position and orientation of a hand co-ordinate system (9) are calculated by the controller (15). The required points (5-7) are positioned and oriented in the latter system (9) by co-ordinate transformation. The reference point (10) is down-shifted into three or more representative points, which are taken up into the pedestal system (8). ADVANTAGE - No external tool measurement is needed and points are found more quickly at lower cost and structural complexity.