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1. 发明申请

US20090118864A1 METHOD AND SYSTEM FOR FINDING A TOOL CENTER POINT FOR A ROBOT USING AN EXTERNAL CAMERA 审中-公开
标题翻译：使用外部摄像机找到机器人的工具中心点的方法和系统
公开(公告)号：US20090118864A1
公开(公告)日：2009-05-07
申请号：US12264159
申请日：2008-11-03
申请人： Bryce Eldridge , Steven G. Carey , Lance F. Guymon
发明人： Bryce Eldridge , Steven G. Carey , Lance F. Guymon
IPC分类号： B25J13/08 , B25J19/04
CPC分类号： B25J9/1692 , G05B2219/39007 , G05B2219/39016 , G05B2219/40545 , G05B2219/40611
摘要： Disclosed is a method and system for finding a relationship between a tool-frame of a tool attached at a wrist of a robot and robot kinematics of the robot using an external camera. The position and orientation of the wrist of the robot define a wrist-frame for the robot that is known. The relationship of the tool-frame and/or the Tool Center Point (TCP) of the tool is initially unknown. For an embodiment, the camera captures an image of the tool. An appropriate point on the image is designated as the TCP of the tool. The robot is moved such that the wrist is placed into a plurality of poses. Each pose of the plurality of poses is constrained such that the TCP point on the image falls within a specified geometric constraint (e.g. a point or a line). A TCP of the tool relative to the wrist frame of the robot is calculated as a function of the specified geometric constraint and as a function of the position and orientation of the wrist for each pose of the plurality of poses. An embodiment may define the tool-frame relative to the wrist frame as the calculated TCP relative to the wrist frame. Other embodiments may further refine the calibration of the tool-frame to account for tool orientation and possibly for a tool operation direction. An embodiment may calibrate the camera using a simplified extrinsic technique that obtains the extrinsic parameters of the calibration, but not other calibration parameters.
摘要翻译：公开了一种用于找到机器人手腕附近的工具的工具框与使用外部照相机的机器人的机器人运动学之间的关系的方法和系统。机器人手腕的位置和方位定义了已知的机器人的腕架。工具框和/或工具的工具中心点（TCP）之间的关系最初是未知的。对于一个实施例，相机捕获该工具的图像。图像上的一个适当点被指定为工具的TCP。移动机器人使得手腕被放置成多个姿势。多个姿势中的每个姿势受到限制，使得图像上的TCP点落在指定的几何约束（例如点或线）内。根据指定的几何约束计算工具相对于机器人的腕架的TCP，并且作为多个姿态的每个姿态的手腕的位置和方向的函数来计算。实施例可以相对于腕架来定义相对于腕架的工具框架，作为相对于腕架的计算的TCP。其他实施例可以进一步细化工具框架的校准，以解决刀具取向并且可能地用于刀具操作方向。实施例可以使用获得校准的外在参数而不是其它校准参数的简化外在技术校准摄像机。

2. 发明授权

US5770834A Robot control system and method for TIG welding 失效
标题翻译：机器人控制系统及TIG焊接方法
公开(公告)号：US5770834A
公开(公告)日：1998-06-23
申请号：US696686
申请日：1996-08-14
申请人： Patrick S. Davis , Steven G. Carey
发明人： Patrick S. Davis , Steven G. Carey
IPC分类号： B23K9/095 , B23K9/09
CPC分类号： B23K9/0953
摘要： A robot control system that includes a controller that is capable of controlling the current supplied to a current-controlled tool mounted on the robot. The controller is capable of accepting operator inputs and the robot is coupled in data communication to the controller. A tool which is controlled in at least one manner by electric current is mounted on the arm of the robot. The controller is coupled in data communication to a current source and is programmed to control the current supplied to the tool. The controller is also capable of receiving inputs from an operator and is capable of ramping the current supplied to the tool from an initial current level to an operator selected current level over an operator defined and inputted selected time. The controller can also ramp the current supplied to the tool from the selected current level to a third current level over a second operator selected and inputted time period.
摘要翻译：一种机器人控制系统，其包括能够控制提供给安装在机器人上的电流控制工具的电流的控制器。控制器能够接受操作员输入，并且机器人与数据通信耦合到控制器。通过电流以至少一种方式控制的工具安装在机器人的臂上。控制器与数据通信耦合到电流源，并被编程以控制提供给工具的电流。控制器还能够接收来自操作者的输入，并且能够通过操作者定义和输入的选择时间将从刀具起始的电流从初始的当前电平斜升到操作者所选的当前电平。控制器还可以通过选择和输入的时间周期，将从刀具所选择的电流提升到第三电流电平。

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