US 12,275,157 B2
Method and electronic device, system and computer readable medium for time calibration
Yichao Mao, Shanghai (CN)
Assigned to ABB SCHWEIZ AG, Baden (CH)
Appl. No. 17/758,958
Filed by ABB SCHWEIZ AG, Baden (CH)
PCT Filed Jan. 22, 2020, PCT No. PCT/CN2020/073894
§ 371(c)(1), (2) Date Jul. 15, 2022,
PCT Pub. No. WO2021/147026, PCT Pub. Date Jul. 29, 2021.
Prior Publication US 2023/0049826 A1, Feb. 16, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1692 (2013.01) [B25J 9/1697 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for time synchronization comprising:
determining a first reference position of a robot in a robot coordinate system based on first feedback information received from the robot, the robot obtaining the first feedback information by recording a first motion of the robot;
determining an association between the first reference position and a first sensing information received from a sensor, the sensor obtaining the first sensing information by sensing the first motion;
triggering the robot to perform a second motion;
receiving, from the robot, a second feedback information obtained by recording the second motion of the robot and, from the sensor, a second sensing information obtained by sensing the second motion; and
determining a time delay between a sensing time point when a sensing position of the robot in the second motion is sensed by the sensor and a recording time point when the sensing position is recorded by the robot in the second motion based on the determined association, the second feedback information, and the second sensing information.