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1. 发明申请

US20120078418A1 ROBOT CALIBRATION APPARATUS AND METHOD FOR SAME 审中-公开
标题翻译：机器人校准装置及其方法
公开(公告)号：US20120078418A1
公开(公告)日：2012-03-29
申请号：US13376878
申请日：2010-06-03
申请人： Jin Hwan Borm , Jung Min Kim , Sang Wook Park
发明人： Jin Hwan Borm , Jung Min Kim , Sang Wook Park
IPC分类号： B25J13/08
CPC分类号： B25J9/1692 , G05B2219/39045 , Y02P80/40
摘要： A robot calibration apparatus and a robot calibration method. The robot calibration apparatus includes:a measurement jig including a plurality of reference points of which positions are pre-known, one or more reference lines of which linear equations are pre-known, and one or more reference planes of which plane equations are pre-known relative to a reference coordinate system of the measurement jig, wherein arbitrary points from among the plurality of reference points, the plurality of arbitrary points on the one or more reference line, and the plurality of arbitrary points on the one or more reference plane are set as measurement points;a sensor coupled to a robot and measuring positions of a plurality of measurement points selected from among the measurement points on the measurement jig;and a control unit controlling the calibrated robot after calibrating the robot based on a plurality of pieces of calibration data including position information of the plurality of measurement points measured by the sensor, wherein at least one measurement point from among the plurality of measurement points is arranged on the reference line or the reference plane. Accordingly, the robot can be calibrated by using information of measuring an arbitrary position on the reference line or reference plane on the measurement jig, and thus limitation to the measurement posture of the robot can be remarkably reduced while measuring the positions of the measurement points, the position information of the measurement point can be easily obtained, and the robot calibration apparatus can be easily applied to a production line.
摘要翻译：机器人校准装置和机器人校准方法。机器人校准装置包括：测量夹具，其包括多个参考点，其中位置是预先知道的，一个或多个参考线，其线性方程式是预先知道的，以及一个或多个参考平面，相对于测量夹具的参考坐标系而言，其中多个参考点中的任意点，一个或多个参考线上的多个任意点以及一个或多个参考平面上的多个任意点是设置为测量点; 耦合到机器人的传感器，并且测量从测量夹具上的测量点中选出的多个测量点的位置; 以及控制单元，其基于包括由所述传感器测量的所述多个测量点的位置信息的多个校准数据来校准所述机器人后控制所述校准的机器人，其中，从所述多个测量点中的至少一个测量点被布置在参考线或参考平面上。因此，可以通过使用测量夹具上的参考线或参考平面上的任意位置的信息来校准机器人，从而可以在测量点的位置的同时显着地减小对机器人的测量姿势的限制，可以容易地获得测量点的位置信息，并且机器人校准装置可以容易地应用于生产线。

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