| CPC B25J 9/1692 (2013.01) [B25J 9/1664 (2013.01)] | 7 Claims |
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1. An origin calibration method of a manipulator, wherein the manipulator operates in a work space, a 3D measuring device is disposed in the work space and configured to measure a position of the manipulator, and the origin calibration method comprises steps of:
(a) controlling the manipulator to move in accordance with a movement command, and utilizing the 3D measuring device to acquire 3D coordinates of a plurality of reference anchor points reached by the manipulator;
(b) controlling the manipulator to move in accordance with the movement command while an origin of the manipulator being offset, utilizing the 3D measuring device to acquire 3D coordinates of a plurality of actual anchor points reached by the manipulator, and acquiring a Jacobian matrix according to the plurality of actual anchor points;
(c) acquiring a deviation of a rotation angle of the manipulator according to the Jacobian matrix, the 3D coordinates of the plurality of reference anchor points and the 3D coordinates of the plurality of actual anchor points, and acquiring a compensation angle value according to the deviation; and
(d) updating the rotation angle of the manipulator according to the compensation angle value so as to update the origin of the manipulator,
wherein the 3D measuring device comprises:
a spheroid detachably assembled to the manipulator and driven by the manipulator to move or rotate synchronously;
a base; and
three measuring modules disposed on the base, wherein each of the three measuring modules comprises a measuring structure and a position sensor, the three measuring structures of the three measuring modules move along an X-axis direction, a Y-axis direction and a Z-axis direction respectively, the three measuring structures are all contacted with the spheroid, and the position sensor is configured to sense a moving distance of the corresponding measuring structure being pushed by the spheroid,
wherein the three measuring structures collaboratively define a measuring space by movable distances thereof along the X-axis direction, the Y-axis direction and the Z-axis direction respectively, in the steps (a) and (b), the spheroid is driven to move in the measuring space by the manipulator, and the sensing results of the three position sensors reflect a 3D coordinate of the spheroid.
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