Calibration apparatus and calibration method for coordinate system of robotic arm

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United States of America

PATENT NO 11951637
SERIAL NO

17339760

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Abstract

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A calibration apparatus includes a processor, an alignment device, and an arm. The alignment device captures images in a three-dimensional space, and a tool is arranged on a flange of the arm. The processor records a first matrix of transformation between an end-effector coordinate-system and a robot coordinate-system, and performs a tool calibration procedure according to the images captured by the alignment device for obtaining a second matrix of transformation between a tool coordinate-system and the end-effector coordinate-system. The processor calculates relative position of a tool center point of the tool in the robot coordinate-system based on the first and second matrixes, and controls the TCP to move in the three-dimensional space for performing a positioning procedure so as to regard points in an alignment device coordinate-system as points of the TCP, and calculates the relative positions of points in the alignment device coordinate-system and in the robot coordinate-system.

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Patent Owner(s)

Patent OwnerAddress
DELTA ELECTRONICS INCNO 252 SHANGYING ROAD GUISHAN INDUSTRIAL ZONE TAOYUAN CITY 33341

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Huang, Cheng-Hao Taoyuan, TW 34 426
Huang, Po-Chiao Taoyuan, TW 5 4
Li, Meng-Zong Taoyuan, TW 2 1
Lin, Han-Ching Taoyuan, TW 16 26
Wang, Shi-Yu Taoyuan, TW 3 1

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