专利名称：AUTOMATIC CALIBRATION METHOD FOR ROBOT SYSTEM
发明人：DENG, Yingcong,ZHANG, Dandan,LU,国际竞争的实质
Roberto Francisco-Yi,LIU, Yun,HU,
Lvhai,ZHOU, Lei
天网2018
申请号：IB2016/054946
陈锦端
申请日：20160818
公开号：WO2017/033100A1
公开日：
孕早期嗜睡20170302
专利内容由知识产权出版社提供义务兵入党申请书
人才辈出洋葱羊肉专利附图：
摘要：An automatic calibration method for a robot system, including steps of:
providing a ball-rod member comprising a connection rod and a sphere connected to one end of the connection rod; fixing the other end of the connection rod to an end execution tool mounted on a flange of a robot; controlling the robot to move a center of the sphere to the same one target point in various different pos under the guidance of a vision nsor, and calculating a transformation matrix Ts of the center of the sphere with respect to a center of the flange bad on po data of the robot at the same target point; and calculating a transformation matrix Tt of a center of the end execution tool with respect to the center of the flange according to a following formula (1): Tt = Ts * Tc (1), wherein Tc is a transformation matrix of the center of the end execution tool with respect to the center of the sphere, and Tc is known and constant. It needs to identify only the center of the sphere of the ball-rod member by the vision nsor, without a need to identify the center of the end execution tool. Since the sphere has a regular geometry, it is easy to identify the center of the sphere, improving the calibration accuracy and efficiency of the robot system.
描写跳舞的句子申请人：TYCO ELECTRONICS (SHANGHAI) CO. LTD,TYCO ELECTRONICS CORPORATION,TYCO ELECTRONICS UK LTD
地址：CN,19312 US,SN3 5HH GB
国籍：CN,US,GB
代理人：KEANE, David
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