Method for industrial robot commissioning, industrial robot system and control system using the same

Patent metadata

Field	Value
Publication number	US-11207781-B2
Application number	US-201916674916-A
Country	US
Kind code	B2
Filing date	Nov 5, 2019
Priority date	Apr 2, 2015
Publication date	Dec 28, 2021
Grant date	Dec 28, 2021

Abstract

Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

First claim

The invention claimed is:

1. A method for calibrating a tool centre point of a tool attached to an industrial robot with an industrial robot coordinate system of the industrial robot, wherein a touchscreen is arranged in a working range of the industrial robot, the method comprising:
(a) moving the industrial robot in a compliant way until a tool centre point of a tool attached to the industrial robot touches a touch point on the touchscreen;
(b) recording a position of the tool centre point of the tool in the industrial robot coordinate system when the tool centre point touches the touch point of the touchscreen;
(c) recording the position of the touch point on the touchscreen in a touchscreen coordinate system;
repeating (a), (b), and (c) for at least two different touches on the touchscreen thereby being at least three different tool centre point positions at least three different touch points; and
calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three different tool centre point positions and the at least three different touch points;
(d) moving the industrial robot in the compliant way until the tool centre point of the tool touches another touch point on the touchscreen;
(e) recording a posture of the industrial robot in the industrial robot coordinate system when the tool centre point of the tool attached to the industrial robot touches the another touch point on the touchscreen;
(f) recording a position of the another touch point on the touchscreen in the touchscreen coordinate system;
repeating (d), (e), and (f) for at least another two touches of the tool centre point on the touchscreen, wherein the tool is arranged in different poses when the tool centre point of the tool attached to the industrial robot touches the touchscreen; and
calculating a position of the tool centre point in the industrial robot coordinate system based on the relation, the at least three postures of the industrial robot and the at least three positions of the touch points.

2. An industrial robot commissioning system comprising:
an industrial robot;
an end effector; and
a touchscreen,
wherein:
the industrial robot, the end effector, and the touchscreen are configured to:
(a) move the industrial robot in a compliant way until a tool centre point of a tool attached to the end effector carried by the industrial robot touches a touch point on the touchscreen;
(b) record a position of the tool centre point of the tool in the industrial robot coordinate system when the tool centre point touches the touch point of the touchscreen;
(c) record the position of the touch point on the touchscreen in a touchscreen coordinate system;
repeat (a), (b), and (c) for at least two different touches of the tool centre point on the touchscreen thereby being at least three different tool centre point positions at least three different touch points; and calculate a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three different tool centre point positions and the at least three different touch points;
(d) move the industrial robot in the compliant way until the tool centre point of the tool touches a further touch point on the touchscreen;
(e) record a posture of the industrial robot in the industrial robot coordinate system when the tool centre point touches the further touch point on the touchscreen;
(f) record a position of the further touch point on the touchscreen in the touchscreen coordinate system;
repeat (d), (e), and (f) for at least another two touches of the tool centre point on the touchscreen, wherein the tool is arranged in different poses when the tool centre point touches the touchscreen; and
calculate a position of the tool centre point in the industrial robot coordinate system based on the relation, the at least three postures of the industrial robot and the at least three positions of the further touch points.

3. The industrial robot commissioning system according to claim 2 , wherein:
the end effector is in a fixed relation to the industrial robot.

4. The industrial robot commissioning system according to claim 3 , wherein:
the industrial robot is moved by means of force control.

5. The industrial robot commissioning system according to claim 2 , wherein:
the tool is a stylus of the end effector protruding with respect to the industrial robot.

6. The industrial robot commissioning system according to claim 2 , wherein:
the industrial robot is moved by means of force control.

7. The industrial robot commissioning system according to claim 2 , further including:
the touchscreen sending to the industrial robot a signal indicating occurrence of each of the touches.

8. An industrial robot commissioning control system being adapted for controlling an industrial robot via a touchscreen, the industrial robot commissioning control system configured to:
(a) move the industrial robot in a compliant way until a tool centre point of a tool carried by the industrial robot touches a touch point on the touchscreen;
(b) record a position of the tool centre point of the tool in the industrial robot coordinate system when the tool centre point touches the touch point of the touchscreen;
(c) record the position of the touch point on the touchscreen in a touchscreen coordinate system;
repeat (a), (b), and (c) for at least two different touches on the touchscreen thereby being at least three different tool centre point positions at least three different touch points; and
calculate a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three different tool centre point positions and the at least three different touch points;
(d) move the industrial robot in the compliant way until the tool centre point of the tool carried by the industrial robot touches another touch point on the touchscreen;
(e) record a posture of the industrial robot in the industrial robot coordinate system when the tool centre point touches the another touch point on the touchscreen;
(f) record a position of the another touch point on the touchscreen in the touchscreen coordinate system;
repeat (d), (e), and (f) for at least another two touches on the touchscreen,
wherein the tool is arranged in different poses when the tool centre point of the tool touches the touchscreen; and
calculate a position of the tool centre point in the industrial robot coordinate system based on the relation, the at least three postures of the industrial robot, and the at least three positions of the touch points.

Assignees

• Abb Schweiz Ag

Inventors

• Gu Hao
• Li Qingwei
• Li Jinsong
• Tian Jihuan
• Qi Liwei
• Wang Jianjiang

Classifications

• G05B2219/39021

  With probe, touch reference positions · CPC title

• G05B19/4147

  characterised by using a programmable interface controller [PIC] · CPC title

• B25J9/1692 Primary

  Calibration of manipulator · CPC title

• G05B19/4015

  going to a reference at the beginning of machine cycle, e.g. for calibration · CPC title

• G05B2219/39032

  Touch probe senses constraint known plane, derive kinematic calibration · CPC title