Coordinate Transformation in the Methods of Calibration of Industrial Robots

A set of measures for equipping a robot with a new tool involves performing a calibration procedure for this tool before it is used in the work. This is necessary for the correct performance of the industrial robot tool movement in the robot’s workspace monitored by control system. To do this, mathematical models describing the transformations of coordinates in this robot model must be supplemented by a mathematical model formed for the installed instrument. Mathematical models describing coordinate transformations for a tool are created by the control system automatically when the instrument calibration procedure is executed before the new tool is put into operation. The created mathematical models are stored in the permanent memory of the controller of the control system in the tool library, indicating the logical name assigned to the tool. Subsequently, when programming the motion of an industrial robot, the control system specifies the tool to be installed on the robot by assigning a special parameter to the logical name of the selected tool.