Patent ID: 9457470
Filing Date: 2016-10-04
CPC Classification: B25J,G05B,Y10S

Claim Text:
1. A method for calibrating a first coordinate system R f of a robot unit with a second coordinate system C f of an object identification unit, wherein the robot unit comprises a robot arm with an end effector and the object identification unit comprises a camera unit, the end effector further comprises a calibration marker, the method comprises moving the end effector to a plurality of first target points wherein the first target points are chosen to include movement of the end effector in all three axes of the first coordinate system R calculating intrinsic parameters C moving the end effector to a plurality of first orientations and for each of these orientations moving the end effector in a translation pattern to a second target point while maintaining the same first orientation of the end effector and while generating position measurements in R calculating a depth value Z from the camera unit to the calibration marker for each second target point based on said position measurements identifying the movement along the translation pattern; transforming position measurements in pixels in IP calculating a translational part of the second coordinate system C using the rotational and the translational parts to store a relation between R