How to teach a accurate TCP for industrial robot?
Bruce
I want to use a vision system with industral robot for assemblying
application.
So the accurate TCP is very important for this applition.
Does anyone know some ways to teach a accurate TCP?
Thank you.
bruce
Joe Pfeiffer
>
> I want to use a vision system with industral robot for assemblying
> application.
> So the accurate TCP is very important for this applition.
>
> Does anyone know some ways to teach a accurate TCP?
You must be using TCP in a way I'm not familiar with -- what are you
using it to mean?
John Nagle
>> application.
>> So the accurate TCP is very important for this application.
>>
>> Does anyone know some ways to teach a accurate TCP?
>
> You must be using TCP in a way I'm not familiar with -- what are you
> using it to mean?
He means "Tool Center Point".
The camera and the robot end effector aren't usually at the
same position, and determining the distance between them to
0.001 or so is hard. See U.S. Patent #6,434,449 for a discussion.
Usually, the answer is some kind of alignment target in the
workspace, one that can both be seen and can sense the end effector
A simple solution is a plate with a hole. The camera
finds the hole, and moves the end effector carefully to the hole,
then moves it around to touch the sides of the hole, which is wired to
sense electrical contact.
Fanuc calls this "TCPmate".
John Nagle
Curt Welch
> Joe Pfeiffer wrote:
> > Bruce <bru....@gmail.com> writes:
> >> I want to use a vision system with industrial robot for assembling
> >> application.
> >> So the accurate TCP is very important for this application.
> >>
> >> Does anyone know some ways to teach a accurate TCP?
> >
> > You must be using TCP in a way I'm not familiar with -- what are you
> > using it to mean?
>
> He means "Tool Center Point".
John, is there anything you don't know? :)
> The camera and the robot end effector aren't usually at the
> same position, and determining the distance between them to
> 0.001 or so is hard. See U.S. Patent #6,434,449 for a discussion.
>
> Usually, the answer is some kind of alignment target in the
> workspace, one that can both be seen and can sense the end effector
> A simple solution is a plate with a hole. The camera
> finds the hole, and moves the end effector carefully to the hole,
> then moves it around to touch the sides of the hole, which is wired to
> sense electrical contact.
>
> Fanuc calls this "TCPmate".
>
> John Nagle
--
Curt Welch http://CurtWelch.Com/
cu...@kcwc.com http://NewsReader.Com/
Joe Pfeiffer
Thanks -- it was indeed a meaning of TCP that this computer geek
wasn't familiar with!
John Nagle
> John Nagle <na...@animats.com> wrote:
>> Joe Pfeiffer wrote:
>>> Bruce <bru....@gmail.com> writes:
>>>> I want to use a vision system with industrial robot for assembling
>>>> application.
>>>> So the accurate TCP is very important for this application.
>>>>
>>>> Does anyone know some ways to teach a accurate TCP?
>>> You must be using TCP in a way I'm not familiar with -- what are you
>>> using it to mean?
>> He means "Tool Center Point".
>
> John, is there anything you don't know? :)
I had to look it up, but I've had to deal with robot manipulator
calibration. You usually need something in the workspace that can
be used as a reference point.
John Nagle