METHOD OF CALIBRATING A TOOL OF AN INDUSTRIAL ROBOT, CONTROL SYSTEM AND INDUSTRIAL ROBOT

摘要

A method of calibrating a tool (14) of an industrial robot (10), the method comprising positioning a tool center point (32) of the tool (14) in relation to a reference target (26) in at least one calibration position (34) of the robot (10); for each calibration position (34), recording a joint position of at least one joint (20) of the robot (10); calculating tool databased on the at least one joint position in each calibration position (34) and based on a kinematic model of the robot (10), the tool data comprising a definition of the tool center point (32); determining an error of the calculated tool data; and modifying at least one kinematic parameter of the robot (10) based on the error to reduce the error. A control system (16) for calibrating a tool (14) of an industrial robot (10) and an industrial robot (10) comprising the control system (16), are also provided.