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Method and an apparatus for calibration of an industrial robot system

The present invention relates to a method and an apparatus for calibration of an industrial robot system including at least one robot (1) having a robot coordinate system (xr1,yr1,zr1) and a positioner (2) having a positioner coordinate system (xp,yp,zp) and adapted to hold and change the orientation of a workpiece by rotating it about a rotational axis. Target points for the robot are programmed with respect to an object coordinate system (xo1,yo1,zo1). The apparatus comprising a robot controller (3), at least three calibration objects (24a-c) arranged on the positioner, and a calibration tool (26) held by the robot. The positions of the calibration objects are known in the object coordinate system. The robot controller is configured to determine the positions of the calibration objects with respect to the robot coordinate system, to determine the positions of a first (24a) and a second (24c) of said calibration objects for at least three different angles of the rotational axis of the positioner, to determine the direction of the rotational axis of the positioner in the robot coordinate system based on the determined positions of the first and second calibration objects for the three angles of the axis, and to determine the relation between the first object coordinate system and the positioner coordinate system by performing a best fit between the known and the determined positions of the calibration objects.
Owner:ABB (SCHWEIZ) AG

Masonry line block and corner pole

A masonry line block is adapted for use in combination with a vertical corner pole during construction of a structure. The structure has an exterior surface and at least one surface projecting from the exterior surface. The line block engages the corner pole at one end of the structure and cooperates with a line holder located at an opposite end of the structure to carry a tensioned guide line therebetween. The guide line indicates proper placement and alignment of building units used to form the structure. The line block includes a mounting member having first and second, opposing pole-engaging shoulders. The shoulders are adapted for selectively engaging the corner pole to hold the line block in one of first and second alignment positions relative to the structure. An alignment member is formed with the mounting member and extends perpendicularly outwardly from the pole-engaging shoulders. The alignment member has first and second opposing sides and defines a thickness corresponding generally to a distance between the outer surface of the structure and the projecting surface of the structure. In the first alignment position of the line block, the alignment member is adapted for locating the guide line relative to the structure to indicate proper placement and alignment of building units used to form the exterior surface of the structure. In the second alignment position of the line block, the alignment member is adapted for locating the guide line relative to the structure to indicate proper placement and alignment of building units used to form the at least one projecting surface of the structure.
Owner:HEAVNER CHARLES EDDIE
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