Robot system and calibration method thereof

Robot System

This technology precisely calibrates the position of a robot arm's end-effector by using external sensors to track markers attached to the arm and a fixed reference marker, calculating the error between the robot arm's real-time displacement and the sensor data.

In industrial robotics, calibrating the position of a robot arm often requires cumbersome manual teaching or the input of separate setup devices, and errors occurring during the teaching process have historically made high-precision tasks difficult to perform.

This technology simultaneously senses a ring-shaped first marker attached to the robot arm and a second marker serving as an external reference point using an external sensor unit. By comparing the robot arm's actual operational displacement with the changes in marker position and performing geometric calculations, it derives position calibration values for the end-effector. Applicable to robotic gripping, precision measurement, and automated equipment, it improves the accuracy of positioning a robot arm in free space using markers and sensor units.

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Key Features:

• A sensor unit positioned away from the robot that senses the locations of the first and second markers
• A first marker attached to a region of the robot arm and a second marker positioned away from the robot
• The preset pattern of the first marker is a reference pattern that extends toward the center of the ring-shaped outer circumference
• A robot comprising a robot arm and a drive unit that operates the robot arm

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of intelligent controller technology applicable to various multi-joint commercial robots and specialized for bin-picking and loading/unloading tasks.