CN117984321A

CN117984321A - Calibration method, calibration device and medium for robot tool coordinate system

Info

Publication number: CN117984321A
Application number: CN202410195330.4A
Authority: CN
Inventors: 沈玉勇; 周彬锋; 方明
Original assignee: Shanghai Jidu Automobile Co Ltd
Current assignee: Shanghai Jidu Automobile Co Ltd
Priority date: 2024-02-21
Filing date: 2024-02-21
Publication date: 2024-05-07

Abstract

The application discloses a calibration method, a calibration device and a medium of a robot tool coordinate system, wherein the calibration method comprises the following steps: acquiring a reference track and an actual track of the robot tool running in a first plane perpendicular to a first direction; acquiring a reference distance and an actual distance of the robot tool running in a first direction; determining a first amount of deviation between the actual trajectory and the reference trajectory, and determining a second amount of deviation between the actual distance and the reference distance; and calibrating a robot tool coordinate system according to the first deviation amount and the second deviation amount.

Description

Calibration method, calibration device and medium for robot tool coordinate system

Technical Field

The present application relates to the field of robot measurement technologies, and in particular, to a calibration method, a calibration device, and a medium for a robot tool coordinate system.

Background

With the continuous development of the technology level, the automation degree of industrial manufacturing is higher and higher, and industrial robots are an important mark for realizing industrial production automation, and are increasingly applied to the fields of industry, aerospace, medical treatment and the like. In order to adapt to different working environments, various tools are required to be installed at the tail end of the robot, and the robot is matched with the tail end tool to complete various set works.

For example, a robot holds an FDS (Follow DRILL SCREW) gun for aluminum body hot-melt self-tapping joining operation. When the FDS gun is used for carrying out hot melting self-tapping connection operation on the aluminum car body, the requirement on the position accuracy of the screw clamped by the FDS gun is high. In the current automobile manufacturing industry, the FDS gun is directly put into use after the first installation is calibrated, and the actual working position of the screw cannot be detected and calibrated.

Because the clamping mechanism of the FDS gun belongs to a vulnerable part, the replacement is more frequent, and both the manual installation error and the part machining error can directly influence the stability of the screw position of the FDS gun. In the prior art, the tracing can be carried out only when the product quality deviation is found in the whole vehicle full inspection or the subsequent process of the whole vehicle assembly, so that the large quality risk and the repair workload exist, and the negative influence on the production is extremely large.

In view of the foregoing, there is a need for providing a new solution to the above-mentioned problems.

Disclosure of Invention

An object of the present application is to provide a new technical solution for a calibration method, a calibration device and a medium for a robot tool coordinate system.

According to a first aspect of the present application, there is provided a calibration method of a robot tool coordinate system, the calibration method comprising:

acquiring a reference track and an actual track of the robot tool running in a first plane perpendicular to a first direction;

acquiring a reference distance and an actual distance of the robot tool running in a first direction;

Determining a first amount of deviation between the actual trajectory and the reference trajectory, and determining a second amount of deviation between the actual distance and the reference distance;

And calibrating a robot tool coordinate system according to the first deviation amount and the second deviation amount.

Optionally, the reference track includes a first reference track and a second reference track;

the acquiring a reference trajectory of the robotic tool running in a first plane perpendicular to a first direction includes:

acquiring a first reference point, taking the first reference point as a circle center, taking a preset value as a first circle of a radius component, and taking the first circle as a first reference track;

And acquiring a second circle, wherein the second circle and the first circle have a preset distance in a first direction, and the second circle is used as a second reference track.

Optionally, the actual track includes a first actual track and a second actual track;

the acquiring an actual trajectory of the robotic tool running in a first plane perpendicular to the first direction includes:

Controlling a robot tool to perform circular motion according to the first circle and acquiring the first actual track;

And controlling the robot tool to perform circular motion according to the second circle and acquiring the second actual track.

Optionally, the determining the first deviation amount between the actual track and the reference track includes:

determining a first amount of sub-deviation between the first actual trajectory and the first reference trajectory;

Determining a second amount of sub-deviation between the second actual trajectory and the second reference trajectory;

The first amount of deviation is determined from the first amount of sub-deviation and the second amount of sub-deviation.

Optionally, the acquiring the actual distance of the robot tool running in the first direction includes:

Acquiring a first reference point, and determining a starting point and an ending point according to the first reference point and the reference distance, wherein the starting point and the ending point are symmetrically distributed on two sides of the first reference point along a first direction;

controlling a robot tool to perform linear motion between the starting point and the ending point and acquiring the time of the linear motion;

and determining the actual distance of the robot tool running in the first direction according to the time of the linear motion.

Optionally, the number of linear movements of the control robot tool between the start point and the end point is at least two.

Optionally, the determining a second amount of deviation between the actual distance and the reference distance includes:

and obtaining a difference value between the actual distance and the reference distance, and determining a second deviation amount between the actual distance and the reference distance according to the difference value.

According to a second aspect of the present application, there is also provided a calibration device for a robot tool coordinate origin, the calibration device comprising:

The first acquisition module is used for acquiring a reference track and an actual track of the robot tool running in a first plane perpendicular to a first direction;

The second acquisition module is used for acquiring a reference distance and an actual distance of the robot tool running in the first direction;

A determining module for determining a first amount of deviation between the actual trajectory and the reference trajectory, and a second amount of deviation between the actual distance and the reference distance;

and the calibration module is used for calibrating a robot tool coordinate system according to the first deviation amount and the second deviation amount.

According to a third aspect of the present application there is also provided an electronic device comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implements a method of calibrating a robot tool coordinate system as described in the first aspect.

According to a fourth aspect of the present application there is also provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, perform a method of calibrating a robot tool coordinate system according to the first aspect.

The calibration method of the robot tool coordinate system provided by the embodiment of the application can detect the actual position of the robot tool, automatically calculate the deviation between the actual position and the standard reference position, and then carry out compensation calibration on the robot tool coordinate system according to the deviation, thereby greatly improving the running stability and reliability of the robot tool.

Other features of the present application and its advantages will become apparent from the following detailed description of exemplary embodiments of the application, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.

FIG. 1 is a flow chart illustrating steps of a method for calibrating a robot tool coordinate system according to an embodiment of the present application;

FIG. 2a is a schematic diagram showing the connection of a measurement sensor, a measurement controller and an industrial robot controller in a calibration method of a robot tool coordinate system according to an embodiment of the present application;

FIGS. 2 b-2 e are process diagrams illustrating a method for calibrating a robot tool coordinate system according to an embodiment of the present application;

FIG. 3 is a schematic block diagram of a calibration device for the origin of coordinates of a robotic tool according to an embodiment of the present application;

Fig. 4 is a schematic block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

< Method example >

Referring to fig. 1, according to an embodiment of the present application, there is provided a calibration method of a robot tool coordinate system, the calibration method including:

s101, acquiring a reference track and an actual track of a robot tool running in a first plane perpendicular to a first direction;

S102, acquiring a reference distance and an actual distance of the robot tool running in a first direction;

S103, determining a first deviation amount between the actual track and the reference track, and determining a second deviation amount between the actual distance and the reference distance;

And S104, calibrating a robot tool coordinate system according to the first deviation amount and the second deviation amount.

In the calibration method of the robot tool coordinate system provided by the embodiment of the application, the position offset of the robot tool is of a spatial structure, and the common position offset comprises X, Y, Z directions; wherein the Z direction corresponds to the working direction of the robot tool, i.e. the first direction; x, Y, Z are perpendicular to each other, and a plane formed by the X direction and the Y direction is perpendicular to the Z direction (first direction).

Taking an FDS gun held by a robot as an example, a screw is arranged and clamped at the front end of the FDS gun, and the position of the screw can be changed by changing the value of a robot tool coordinate system; calibrating the robot tool coordinate system can improve the position accuracy of the screw. The feeding direction (axial direction of the screw) of the screw during working is the first direction, namely the Z direction.

In the calibration method of the robot tool coordinate system provided by the embodiment of the application, a reference track and an actual track of the robot tool running are obtained in a first plane perpendicular to a first direction; the first plane is a plane formed by the X direction and the Y direction. A first amount of deviation between the reference trajectory and the actual trajectory is determined, which may be used to calibrate X and Y coordinates in a robot tool coordinate system.

In the calibration method of the robot tool coordinate system provided by the embodiment of the application, the reference distance and the actual distance of the robot tool operation are obtained in the first direction; a second amount of deviation between the actual distance and the reference distance is determined, which may be used to calibrate the Z coordinate in the robot tool coordinate system.

In actual operation, one calibration can be performed after one working cycle is finished, or one calibration can be performed after several working cycles are set; the accuracy of robot tool operation is ensured by periodic inspection.

In one embodiment, the reference track includes a first reference track and a second reference track;

The calibration method of the robot tool coordinate system is applied to an electronic device, which in a specific example, referring to fig. 2a, includes a measurement sensor 11, a measurement controller 12, and an industrial robot controller 13; the measuring sensor 11 is connected to the measuring controller 12 by a special sensor cable, while the measuring controller 12 is connected to the industrial robot controller 13 by a field bus (Interbus or Profinet).

As shown in fig. 2b and 2c, the measuring sensor 11 may be, for example, a photoelectric sensor, and the measuring sensor 11 has a square structure with an opening 110 at one side, and the measuring sensor 11 has two photoelectric switches disposed at diagonal positions of the square structure. One photoelectric switch emits a light beam a, the other photoelectric switch emits a light beam b, the intersection point position of the light beam a and the light beam b is a first reference point Pos1, and the position of the first reference point Pos1 can be sensed by the two photoelectric switches at the same time.

The first reference point Pos1 and an initial position Pos2 of the robot tool, which initial position Pos2 is located at a middle position of the opening 110, are taught in the industrial robot controller 13.

Specifically, a three-point method of an industrial robot is used to establish a coordinate system of a measuring sensor, as shown in fig. 2b, O is an origin of the coordinate system of the measuring sensor, OX is an X direction, and OY is a Y direction. The robot is taught to a first reference point Pos1 with the screw 001 of the FDS gun at the center of the XY plane of the measuring sensor and the tip overlapping at the center plane of the sensor in the Z direction, i.e., at the first reference point Pos 1. The initial position Pos2 of the robot tool is taught such that the screw 001 of the FDS gun is at the intermediate position of the opening 110 of the measuring sensor and the tip overlaps at the center plane of the sensor in the Z-direction, that is, at the initial position Pos 2.

Further, the relevant measurement parameters are preset in the industrial robot controller 13, for example, a preset value of the radius R of the first circle of the member is 20mm, and a preset distance L of the first circle and the second circle in the first direction (Z direction) is 15mm.

Through the arrangement, the first circle can be automatically calculated and generated to serve as a first reference track, and the second circle can serve as a second reference track, so that manual teaching is not needed, operation time is saved, and calibration accuracy is improved.

Accurate detection results can be achieved with the measuring sensor 11 and the detection process is easy to operate. Of course, in other embodiments, other methods may be used for detection, such as tracking the trajectory of the robotic tool using visual photographing.

In one embodiment, the actual track comprises a first actual track and a second actual track;

In this specific example, the robot tool is controlled to move from the initial position Pos2 into the inner area of the measurement sensor 11, and then perform a circular motion according to a first circle from the measurement start point (S) until returning to the measurement start point (S), and the trajectory formed by the circular motion is the first actual trajectory. If the coordinate system of the robot tool has no deviation, the first actual track is coincident with the first circle; if the coordinate system of the robot tool is deviated, the first actual trajectory is displaced from the first circle.

Similarly, if the coordinate system of the robot tool has no deviation, the second actual track is coincident with the second circle; if the coordinate system of the robot tool is deviated, the second actual trajectory is shifted from the second circle. When the second actual trajectory is formed, for example, the robot tool is controlled to move from the initial position Pos2 into the inner area of the measuring sensor 11, then the robot tool moves in the first direction (Z direction) by the preset distance L, and then performs the circular motion according to the second circle, and the formed trajectory is the second actual trajectory.

In one embodiment, the determining a first amount of deviation between the actual trajectory and the reference trajectory includes:

In this specific example, the first actual track and the first reference track are described as examples with reference to fig. 2 d:

If the coordinate system of the robot tool has no deviation, the center P' of the first actual track coincides with the center of the first circle (namely the first reference point Pos 1), and the light beam a and the light beam b exactly divide the first actual track into four equal parts; when the robot tool starts from the measurement start point S, moves at a uniform speed by the linear velocity Vel and sequentially passes through four A, B, C, D points, the measurement controller 12 sequentially records the passing time t _AB、t_BC and t _CD of the robot tool according to the photoelectric switch signal change (0→1) in the measurement sensor 11, and at this time, t _AB＝t_BC＝t_CD.

However, if there is a deviation in the coordinate system of the robot tool, the center P' of the first actual trajectory does not coincide with the center of the first circle (i.e., the first reference point Pos 1). Then the light beam a and the light beam b divide the first actual track into four parts with different lengths of each section of circular arc, and as the linear speeds Vel of the robot tool motion are consistent, t _AB、t_BC and t _CD are not equal any more, so that the angle of the corresponding central angle can be calculated by using the following formula:

∠AP’B＝(Vel*t_AB)/R,∠BP'C＝(Vel*t_BC)/R,∠CP'D＝(Vel*t_CD)/R；

The line segment P ' e=r x Cos [ (< AP ' B +< BP ' C)/2 ],

Segment P ' f=r x Cos [ (< BP ' C +< CP ' D)/2 ];

The first amount of sub-deviation between the first actual track and the first reference track comprises:

ΔX1＝(√2/2P’F-√2/2P’E)，ΔY1＝(√2/2P’F+√2/2P’E)；

similarly, second sub-deviations Δx2 and Δy2 between the second actual track and the second reference track can be obtained.

The first deviation amount is determined according to the first deviation amount and the second deviation amount, and then:

Δx= (Δx1+Δx2)/2, Δy= (Δy1+Δy2)/2; Δx and Δy are the first deviation amounts.

The measurement controller 12 feeds back the calculated Δx and Δy to the industrial robot controller 13, and the industrial robot controller 13 then calibrates the X and Y coordinates of the robot tool coordinate system according to Δx and Δy, respectively.

In fact, the X-and Y-coordinates of the robot tool coordinate system can also be calibrated based on only the first sub-deviations Δx1 and Δy1 between the first actual trajectory and the first reference trajectory (using only the first circle). And the X coordinate of the robot tool coordinate system is calibrated by using two measuring rings (a first circle and a second circle) with a certain distance (preset distance L) in the Z direction, the average value delta X of delta X1 and delta X2 is used for calibrating the Y coordinate of the robot tool coordinate system, and the average value delta Y of delta Y1 and delta Y2 is used for calibrating the Y coordinate of the robot tool coordinate system, so that a more accurate calibration result can be obtained.

In one embodiment, the obtaining the actual distance traveled by the robotic tool in the first direction includes:

In this specific example, referring to fig. 2e, a reference distance z_ Mea for the robot tool to travel in the first direction, for example z_ Mea, is preset in the industrial robot controller 13. Then, setting a starting point TCP_Z_PU and an ending point TCP_Z_PD according to a reference distance Z_ Mea by taking the first reference point Pos1 as a reference point; the coordinates of the first reference point Pos1 are (x 1, y1, Z1), the coordinates of the start point tcp_z_pu are (x 1, y1, z1+z_ Mea/2), and the coordinates of the end point tcp_z_pd are (x 1, y1, Z1-z_ Mea/2). That is, the start point tcp_z_pu and the end point tcp_z_pd are symmetrically distributed on both sides of the first reference point Pos1 along the first direction (Z direction), and the distance between the start point tcp_z_pu and the first reference point Pos1, and the distance between the end point tcp_z_pd and the first reference point Pos1 are z_ Mea/2.

The robot tool (screw 001 in fig. 2 e) is controlled to move from the starting point tcp_z_pu in a first direction (Z direction) from top to bottom, when the robot tool moves to the measuring sensor center plane C for the first time (the first reference point Pos1 is located on the center plane C), the signal of the measuring sensor is changed from 0 to 1, the timing starts, at this time, the robot tool continues to move downwards to the ending point tcp_z_pd and then moves upwards, and when the robot tool moves to the measuring sensor center plane C again, the signal of the measuring sensor is changed from 1 to 0, the timing ends, the time is recorded as t1, and the robot continues to move upwards back to the starting point tcp_z_pu.

In order to improve the accuracy of calibrating the Z coordinate of the robot tool coordinate system, the number of linear movements of the control robot tool between the start point and the end point is at least two; for example, the number of times of rectilinear motion is three.

In one embodiment, the determining a second amount of deviation between the actual distance and the reference distance comprises:

For example, in the case where the number of times of controlling the robot tool to perform the linear motion between the start point tcp_z_pu and the end point tcp_z_pd is three, the times t1, t2, and t3 of the three linear motions are obtained, respectively; the average time of three linear movements is: tz= (t1+t2+t3)/3, the second deviation amount representing the Z-direction deviation is: Δz= (z_ Mea-vel×tz)/2. The measurement controller 12 feeds back the calculated Δz to the industrial robot controller 13, and the industrial robot controller 13 calibrates the Z coordinate of the robot tool coordinate system according to the Δz.

In the method for calibrating the Z coordinate, as the robot tool starts to count time from the first movement of the upper side of the measuring sensor to the moment when the central plane C of the measuring sensor senses a signal, the robot tool continues to move downwards by Z_ Mea/2 until reaching the termination point TCP_Z_PD, then moves upwards until the robot tool leaves the detection range of the measuring sensor and stops timing; the whole timing process is automatically detected and calculated through interaction of the measurement controller 12 and the measurement sensor 11, and no signal interaction with the industrial robot controller 13 is needed, so that signal delay errors are avoided, and high calibration accuracy is ensured.

< Device example >

Referring to fig. 3, according to another embodiment of the present application, there is provided a calibration apparatus 200 for a robot tool coordinate origin, the calibration apparatus 200 including:

A first acquisition module 201, configured to acquire a reference trajectory and an actual trajectory of a robot tool running in a first plane perpendicular to a first direction;

A second acquisition module 202, configured to acquire a reference distance and an actual distance of the robot tool running in the first direction;

a determining module 203 for determining a first amount of deviation between the actual trajectory and the reference trajectory, and a second amount of deviation between the actual distance and the reference distance;

A calibration module 204 for calibrating a robot tool coordinate system based on the first and second amounts of deviation.

In the calibration device for the robot tool coordinate system provided by the embodiment of the application, the position offset of the robot tool is of a spatial structure, and the common position offset comprises X, Y, Z directions; wherein the Z direction corresponds to the working direction of the robot tool, i.e. the first direction; x, Y, Z are perpendicular to each other, and a plane formed by the X direction and the Y direction is perpendicular to the Z direction (first direction).

In the calibration device of the robot tool coordinate system provided by the embodiment of the application, a reference track and an actual track of the robot tool running are obtained in a first plane perpendicular to a first direction; the first plane is a plane formed by the X direction and the Y direction. A first amount of deviation between the reference trajectory and the actual trajectory is determined, which may be used to calibrate X and Y coordinates in a robot tool coordinate system.

In the calibration device of the robot tool coordinate system provided by the embodiment of the application, the reference distance and the actual distance of the robot tool running are acquired in the first direction; a second amount of deviation between the actual distance and the reference distance is determined, which may be used to calibrate the Z coordinate in the robot tool coordinate system.

The calibration device of the robot tool coordinate system provided by the embodiment of the application can detect the actual position of the robot tool, automatically calculate the deviation between the actual position and the standard reference position, and then carry out compensation calibration on the robot tool coordinate system according to the deviation, thereby greatly improving the running stability and reliability of the robot tool.

According to still another embodiment of the present application, referring to fig. 4, there is provided an electronic device 300, the electronic device 300 including:

a memory 301 for storing executable computer instructions;

a processor 302 for executing the calibration method of the robot tool coordinate system as described above, according to the control of the executable computer instructions.

< Computer-readable storage Medium >

According to yet another embodiment of the present application, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, perform a method of calibrating a robot tool coordinate system as described above.

Embodiments of the present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of embodiments of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.

The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of embodiments of the present disclosure may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as SMALLTALK, C ++ or the like and conventional procedural programming languages, such as the "C" language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of embodiments of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which may execute the computer readable program instructions.

Various aspects of embodiments of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

The foregoing description of embodiments of the application has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the application is defined by the appended claims.

Claims

1. A method of calibrating a robot tool coordinate system, the method comprising:

2. The method of calibrating a robotic tool coordinate system according to claim 1, wherein the reference trajectory comprises a first reference trajectory and a second reference trajectory;

3. The method of calibrating a robotic tool coordinate system according to claim 2, wherein the actual trajectory comprises a first actual trajectory and a second actual trajectory;

4. A method of calibrating a robotic tool coordinate system according to claim 3, wherein the determining a first amount of deviation between the actual trajectory and the reference trajectory comprises:

5. The method of calibrating a robot tool coordinate system of claim 1, wherein the obtaining the actual distance traveled by the robot tool in the first direction comprises:

6. The method of calibrating a robot tool coordinate system of claim 5, wherein the controlling robot tool performs a linear motion between the start point and the end point at least twice.

7. The method of calibrating a robotic tool coordinate system according to claim 6, wherein the determining a second amount of deviation between the actual distance and the reference distance comprises:

8. A calibration device for a robot tool origin of coordinates, the calibration device comprising:

9. An electronic device comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implements a method of calibrating a robotic tool coordinate system according to any of claims 1-7.

10. A computer readable storage medium, having stored thereon computer instructions which, when executed by a processor, perform a method of calibrating a robot tool coordinate system according to any of claims 1-7.