COOPERATION SYSTEM HAVING MACHINE TOOL AND ROBOT

• Main Authors: MIZUNO JUN, NISHI HIROJI, OYAMADA MASAHIRO
• Format: Patent
• Language: English
• Published: 02.06.2016
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TECHNICAL SUBJECTS COVERED BY FORMER USPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ARTCOLLECTIONS [XRACs] AND DIGESTS; TRANSPORTING

A cooperation system of a robot and a machine tool, capable of obtaining a coordinate transformation means with high accuracy by a simple configuration, by which a robot coordinate system is transformed to a machine coordinate system. A provisional coordinate system is defined by coordinate values of three calibration markers in a base coordinate system obtained by translating the machine coordinate system, and a coordinate transformation matrix from the provisional coordinate system to the base coordinate system is calculated. The positions of the markers in the robot coordinate system are obtained by capturing the markers by a camera. Based on the three coordinate values in the robot coordinate system, a coordinate transformation matrix from the robot coordinate system to the provisional coordinate system is calculated, and a coordinate transformation matrix from the robot coordinate system to the base coordinate system is calculated based on the above two matrixes.