Title:
POSITIONER AXIS COORDINATE SYSTEM CALIBRATION METHOD, ROBOT SYSTEM, AND STORAGE DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/010628
Kind Code:
A1
Abstract:
The present application provides a positioner axis coordinate system calibration method, a robot system, and a storage device. The method comprises: rotating m-axis of the positioner by nm different angles, wherein nm is an integer greater than or equal to 3; when the m-axis of the positioner rotates by one angle, bringing a tool center point (TCP) of a robot into contact with the same position on the m-axis of the positioner to obtain nm TCP-based position coordinates of the TCP of the robot with respect to a basic coordinate system of the robot; using nm TCP-based position coordinates to obtain a transformation parameter of the m-axis coordinate system of the positioner with respect to the world coordinate system wAm; and using wAm to calculate the m-axis coordinate system of the positioner. In this way, the present application can obtain the position of the m-axis coordinate system of the positioner with respect to the world coordinate system, thereby calibrating the axis coordinate system of the positioner.
Inventors:
ZHANG SONGPENG (CN)
Application Number:
PCT/CN2018/095680
Publication Date:
January 16, 2020
Filing Date:
July 13, 2018
Export Citation:
Assignee:
SHENZHEN A & E INTELLIGENT TECH INST CO LTD (CN)
International Classes:
G05B19/401
Foreign References:
| CN107598919A | 2018-01-19 | |||
| CN108195327A | 2018-06-22 | |||
| CN102216860A | 2011-10-12 | |||
| US20160011303A1 | 2016-01-14 |
Attorney, Agent or Firm:
CHINA WISPRO INTELLECTUAL PROPERTY LLP. (CN)
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