Method for calibrating and programming of a robot application

a robot application and programming method technology, applied in the direction of program control, electric programme control, instruments, etc., can solve the problems of tool position and orientation deviation, and achieve the effect of high accuracy and fast and easy robot programming

Inactive Publication Date: 2004-12-16
GAN ZHONGXUE +6
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

[0007] The object of the present invention is to provide a method for fast and easy robot programming providing a high accuracy in a robot application.

Problems solved by technology

A problem with off-line programming by a digitizer is that there may be deviations between the tool positions and orientations taught with the digitizer and run with the robot.

Method used

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  • Method for calibrating and programming of a robot application
  • Method for calibrating and programming of a robot application
  • Method for calibrating and programming of a robot application

Examples

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Embodiment Construction

[0043] The robot application selected to describe the method according to the invention is machining, but the method can as well be used for any type of application, where high accuracy is needed.

[0044] FIG. 1 shows a robot application comprising an industrial robot 1, a tool 2 mounted on the robot, and a work object 3 to be processed by the tool. The work object 3 is attached to a fixture 4. The robot 1 comprises a base 6, which is firmly mounted on a foundation. The robot further comprises a support 7, which is rotateable relative to the base 6 around a first vertical axis. In the upper end of the support 7, a first robot arm 8 is rotatably mounted around a second horizontal axis. In the outer end of the first arm, a second arm 9 is rotatably mounted relative to the first arm around a third axis. The second robot arm 9 is rotatably mounted relative to an inner part of the arm around a fourth axis, coinciding with the length axis of the second arm 9. The second arm 9 supports in it...

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Abstract

A method for programming of a robot application comprising an industrial robot having a robot coordinate system, a tool having a tool coordinate system and a work object (3) to be processed by the tool. The application is programmed by means of a position-measuring unit (15) adapted for measuring positions relative a measuring coordinate system (db). The programming method comprises: selecting an object reference structure (25) on the object, defining a mathematical model for the object reference structure, defining an object coordinate system (o2), providing measurements by the position-measuring unit on the surface of the object reference structure, determining the object coordinate system in relation to the measuring coordinate system (db) by best fit between said measurements and said mathematical model of the object reference structure.

Description

[0001] The present invention is directed to a method for programming of an industrial robot having a robot coordinate system and particularly to an application that is programmed by means of a position-measuring unit adapted for measuring positions relative a measuring coordinate system. The invention is useful for applications comprising a tool having a tool coordinate system and a work object to be processed by the tool. The invention is particularly useful in applications that demand high accuracy, such as different types of machining applications, for example fettling, debarring, milling, sawing, grinding and drilling. The application is also useful in applications such as arc welding, water jet cutting, laser cutting, gluing and assembly.PRIOR ART[0002] A robot program comprises a number of program instructions controlling the movements of the robot. Generation of a robot program comprises a first step wherein positions and orientations of a path, to be followed by the robot du...

Claims

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Application Information

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Patent Type & Authority Applications(United States)
IPC IPC(8): B25J9/16B25J9/18
CPCB25J9/1692G05B19/4083G05B2219/36504G05B2219/39021G05B2219/39022
Inventor GAN, ZHONGXUEROSSANO, GREGORYLI, XIONGZISUN, YUNQUANTANG, QUINGBROGARDH, TORGNYBRANTMARK, HAKAN
Owner GAN ZHONGXUE
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