Hon Hai Precision Industry Co., Ltd.

Hong-fu Jin Precision Industry (shenzhen) Co., Ltd.

Shu-Jun Fu

Long-En Chiu

Gang Zhao

A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system Twith the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system Tto establish a visual coordinate system T; calculating a scaling ratio &#x3bb; of the vision coordinate system Trelative to the preset coordinate system T; rotating the TCP relative to axes of the preset coordinate system T; capturing pictures of the TCP prior to and after rotation; calculating the deviation &#x394;P between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system Tusing &#x394;P, and repeating the rotation through correction steps until &#x394;P is less than or equal to a maximum allowable deviation of the robot manipulator.

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Shenzhen, China

Shu-Jun Fu