专利名称：AUTOMATIC CALIBRATION METHOD FOR
ROBOT SYSTEMS USING A VISION SENSOR
发明人：DENG, Yingcong,ZHANG, Dandan,LU,
Roberto Francisco-yi,HU, Lvhai
申请号：EP15703109.7申请日：20150130公开号：EP3105016A1公开日：20161221
摘要：The present invention discloses an automatic calibration method for a robotsystem, comprising steps of: calibrating intrinsic parameters of a sensor and a sensorcoordinate system of the sensor with respect to a world coordinate system by means ofa calibration plate; and controlling a robot under the guidance of the calibrated sensorto move an original point of a tool coordinate system of a tool mounted on the robot toreach the same target point with a plurality of different poses, and calculating a transfermatrix T of the tool coordinate system with respect to a tool center point coordinatesystem of the robot based on pose data of the robot at the same target point. Therobot can accurately move to the same target point with the plurality of different poses,improving the calibration accuracy of the robot system. Furthermore, the calibration ofthe robot system is automatically performed by a control program, increasing thecalibration efficiency, and simplifying the calibration operation.
申请人：Tyco Electronics (Shanghai) Co. Ltd.,Tyco Electronics Corporation
地址：Level 1, No. 142, He Dan Road Waigaoqiao Free Trade Zone Shanghai 200233CN,1050 Westlakes Drive Berwyn, PA 19312 US
国籍：CN,US
代理机构：Grünecker Patent- und Rechtsanwälte PartG mbB
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