EP 3134232 A1 20170301 - A METHOD AND A SYSTEM FOR GENERATING DATA FOR CALIBRATING A ROBOT

Title (en)

A METHOD AND A SYSTEM FOR GENERATING DATA FOR CALIBRATING A ROBOT

Title (de)

VERFAHREN UND SYSTEM ZUR ERZEUGUNG VON DATEN ZUR KALIBRIERUNG EINES ROBOTERS

Title (fr)

PROCÉDÉ ET SYSTÈME PERMETTANT DE GÉNÉRER DES DONNÉES DESTINÉES À L'ÉTALONNAGE D'UN ROBOT

Publication

EP 3134232 A1 20170301 (EN)

Application

EP 15720753 A 20150420

Priority

FI 20145372 A 20140422
FI 2015050270 W 20150420

Abstract (en)

[origin: WO2015162334A1] A method and system for generating deviation data indicative of inaccuracy in kinematic parameters of a robot are presented. In the method, a planar reference surface is placed in a fixed position with respect to a base frame of the robot. An end- effector of the robot is controlled (202, 203) to be successively in four or more test positions. For each test position, a distance from the end-effector to a test position-specific test point on the planar reference surface is detected (204). Estimate positions of the tests points are obtained (205) on the basis of the detected distances and joint variables corresponding to each of the test positions. The deviation data is based on deviations of the estimate positions from a geometric plane. These deviations indicate the inaccuracy in the kinematic parameters because the real positions of the test points are coplanar because they belong to the planar reference surface.

IPC 8 full level

B25J 9/16 (2006.01)

CPC (source: EP FI)

B25J 9/1692 (2013.01 - EP FI); B25J 19/021 (2013.01 - FI); B25J 19/022 (2013.01 - FI); G05B 2219/39017 (2013.01 - EP); G05B 2219/39024 (2013.01 - EP)

Citation (search report)

See references of WO 2015162334A1

Designated contracting state (EPC)

AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

Designated extension state (EPC)

BA ME

DOCDB simple family (publication)

WO 2015162334 A1 20151029; EP 3134232 A1 20170301; FI 20145372 A 20151023

DOCDB simple family (application)

FI 2015050270 W 20150420; EP 15720753 A 20150420; FI 20145372 A 20140422