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

Patent metadata

Field	Value
Publication number	US-2018126557-A1
Application number	US-201715719243-A
Country	US
Kind code	A1
Filing date	Sep 28, 2017
Priority date	Apr 2, 2015
Publication date	May 10, 2018
Grant date	—

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

1 . 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, wherein: the touchscreen is arranged in a working range of the industrial robot, including:
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; repeating the steps of (a), (b) and (c) for at least another two touches on the touchscreen, wherein two of the at least three touch points define a line parallel to X axis or Y axis of the industrial robot coordinate system and another of the at least three touch points is arranged away from the line; 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.

2 . The method according to claim 1 , wherein:
the end effector is in a fixed relation to the industrial robot.

3 . The method according to claim 1 , wherein:
an stylus of the end effector is adapted for protruding with respect to the industrial robot.

4 . The method according to claim 1 , wherein:
the industrial robot is moved by means of force control.

5 . The method according to claim 1 , further including:
the touchscreen sending to the industrial robot a signal indicating occurrence of the touch.

6 . 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, including:
(d) moving the industrial robot in a compliant way until the tool centre point of the tool touches a point on the touchscreen; (e) recording a posture of the industrial robot in the industrial robot coordinate system when it touches the point of the touchscreen; (f) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; repeating the steps of (d), (e) and (f) for at least another two touches on the touchscreen, wherein the tool is arranged in different poses when it touches the touchscreen; and calculating a position of the tool centre point in the industrial robot coordinate system based on the at least three postures of the industrial robot and the at least three positions of the touch points.

7 . A method for optimizing kinematics parameters of another industrial robot, wherein: a touchscreen is arranged in a working range of the another industrial robot and a touchscreen coordinate system of the touchscreen was calibrated with the industrial robot coordinate system of the industrial robot according to claim 1 , including:
attaching an end effector to the another industrial robot whose base is arranged at the same position as the industrial robot; (g) moving the another industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (h) recording a posture of the another industrial robot in the industrial robot coordinate system when the end effector stylus touches a point on the touchscreen; (i) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; repeating steps of (g), (h) and (i) for at least another touch on the touchscreen, wherein the number of the touch is equal or above the number of the kinematics parameter of the another industrial robot; optimizing kinematics parameters of the another industrial robot based on the at least two postures of the another industrial robot, the at least two positions of the touch points, and the relation between the industrial robot coordinate system and the touch screen coordinate system.

8 . A method for calibrating a camera coordinate system of a camera with an industrial robot system of an industrial robot, wherein: a touchscreen is arranged in a working range of the industrial robot and a touchscreen coordinate system of the touchscreen was calibrated with an industrial robot coordinate system of the industrial robot according to claim 1 , including:
(j) displaying a pattern on the touchscreen; (k) determining a position for a point on the image in the touchscreen coordinate system; (l) photographing an image of the pattern; (m) determining a position for the point on the image in the camera coordinate system; repeating steps of (j), (k), (l) and (m) for the pattern rotated on the touchscreen at least once; calculating a relation between the camera coordinate system and the touchscreen coordinate system by means of image recognition based on the at least two photographed images; calculating a relation between the industrial robot coordinate system and the camera coordinate system based the relation between the camera coordinate system and the touchscreen coordinate system and the relation between the touchscreen coordinate system and the industrial robot coordinate system.

9 . A method for programming an industrial robot, wherein: a touchscreen is arranged in a working range of the industrial robot and a touchscreen coordinate system of the touchscreen was calibrated with an industrial robot coordinate system of the industrial robot according to claim 1 , including:
setting a target path on the touchscreen; recording positions of target points on the target path in the touchscreen coordinate system; calculating the industrial robot postures in the industrial robot coordinate system where the industrial robot is supposed to reach and move along the target path based on the position coordinates of the points on the target path in the touchscreen coordinate system, the relation between the industrial robot coordinate system and the touchscreen coordinate system, and kinematics model of the industrial robot; moving the industrial robot with the industrial robot postures set as target postures in a compliant way to touch the touchscreen; recording the positions of the touch points in the touchscreen coordinate system; calculating deviation information between the positions of target points and the positions of the touch points; and tuning the industrial robot based on the deviation information.

10 . The method according to claim 9 , further including:
drawing a target path on the touchscreen by a user; wherein: the target path involved in the step of target path setting follows the target path drawn by the user.

11 . An industrial robot commissioning system including 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 stylus of the end effector touches a point on the touchscreen;
(b) record a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen;
(c) record a position of the touch point on the touchscreen in the touchscreen coordinate system;
repeat the steps of (a), (b) and (c) for at least another two touches on the touchscreen, wherein two of the at least three touch points define a line parallel to X axis or Y axis of the industrial robot coordinate system and another of the at least three touch points is arranged away from the line; and calculate a relation between the industrial robot coordinate

Assignees

• Abb Schweiz Ag

Inventors

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

Classifications

• B25J9/1692 Primary

  Calibration of manipulator · CPC title

• B25J9/161

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• G05B2219/39021

  With probe, touch reference positions · CPC title

• B25J11/00

  Manipulators not otherwise provided for · CPC title

• G05B2219/39032

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