ATE483185T1 - Verfahren und vorrichtung zur kompensation geometrischer fehler zwischen arbeitsobjekten und einer halteeinrichtung - Google Patents

Verfahren und vorrichtung zur kompensation geometrischer fehler zwischen arbeitsobjekten und einer halteeinrichtung

Info

Publication number
ATE483185T1
ATE483185T1 AT08735426T AT08735426T ATE483185T1 AT E483185 T1 ATE483185 T1 AT E483185T1 AT 08735426 T AT08735426 T AT 08735426T AT 08735426 T AT08735426 T AT 08735426T AT E483185 T1 ATE483185 T1 AT E483185T1
Authority
AT
Austria
Prior art keywords
orientation
calculating
errors
compensating
freedom
Prior art date
Application number
AT08735426T
Other languages
English (en)
Inventor
Torgny Brogardh
Original Assignee
Abb Technology Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Technology Ab filed Critical Abb Technology Ab
Application granted granted Critical
Publication of ATE483185T1 publication Critical patent/ATE483185T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36404—Adapt teached position as function of deviation 3-D, 2-D position workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40387—Modify without repeating teaching operation

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Suspension Of Electric Lines Or Cables (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
AT08735426T 2007-03-21 2008-03-17 Verfahren und vorrichtung zur kompensation geometrischer fehler zwischen arbeitsobjekten und einer halteeinrichtung ATE483185T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US90711407P 2007-03-21 2007-03-21
PCT/EP2008/053162 WO2008113783A2 (en) 2007-03-21 2008-03-17 A method and an apparatus for compensating for geometrical errors between work objects and a holding device

Publications (1)

Publication Number Publication Date
ATE483185T1 true ATE483185T1 (de) 2010-10-15

Family

ID=39711860

Family Applications (1)

Application Number Title Priority Date Filing Date
AT08735426T ATE483185T1 (de) 2007-03-21 2008-03-17 Verfahren und vorrichtung zur kompensation geometrischer fehler zwischen arbeitsobjekten und einer halteeinrichtung

Country Status (4)

Country Link
EP (1) EP2122422B1 (de)
AT (1) ATE483185T1 (de)
DE (1) DE602008002823D1 (de)
WO (2) WO2008113783A2 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11656597B2 (en) 2020-12-07 2023-05-23 Industrial Technology Research Institute Method and system for recognizing deburring trajectory

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US7908757B2 (en) 2008-10-16 2011-03-22 Hexagon Metrology, Inc. Articulating measuring arm with laser scanner
DE102009034938B4 (de) * 2009-07-28 2015-10-15 Sensodrive Gmbh Verfahren zur Kommandierung eines Bewegungssystems mit einer Messeinrichtung
EP2540456A1 (de) * 2009-08-27 2013-01-02 ABB Research Ltd. Robotisches Aufgreifen von Teilen aus einem Teilebehälter
GB201009219D0 (en) 2010-06-02 2010-07-21 Airbus Operations Ltd Aircraft component manufacturing method and apparatus
EP2631668B1 (de) * 2012-02-24 2016-05-25 Sick AG Optische Einrichtung und Prüfverfahren zur Prüfung der Funktionsfähigkeit einer optischen Einrichtung
US11226390B2 (en) * 2017-08-28 2022-01-18 Teradyne, Inc. Calibration process for an automated test system
DE102017124536A1 (de) * 2017-10-20 2019-04-25 Homag Gmbh Verfahren zum Betrieb zumindest einer Bearbeitungsvorrichtung sowie Bearbeitungsanlage
CN111542728A (zh) 2017-11-13 2020-08-14 海克斯康测量技术有限公司 光学扫描装置的热管理
CN109591019B (zh) * 2018-12-19 2021-07-27 南京航空航天大学 一种无确定性定位特征物体的空间精确定位方法
JP6709316B1 (ja) 2019-07-16 2020-06-10 Dmg森精機株式会社 測定装置
CN112558547B (zh) * 2021-02-19 2021-06-08 成都飞机工业（集团）有限责任公司 一种五轴数控机床平动轴几何误差补偿数据快速优化方法

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US5374830A (en) * 1984-10-12 1994-12-20 Sensor Adaptive Machines, Inc. Target based determination of robot and sensor alignment
DE3620422C1 (en) * 1986-06-18 1988-01-14 Gildemeister Ag Method for correcting the processing programme of a tool of a numerically controlled machine tool
US5297238A (en) * 1991-08-30 1994-03-22 Cimetrix Incorporated Robot end-effector terminal control frame (TCF) calibration method and device
JP2000317775A (ja) * 1999-04-28 2000-11-21 Mitsutoyo Corp 加工システム
JP3694808B2 (ja) * 2001-04-13 2005-09-14 株式会社安川電機 ウェハ搬送用ロボットの教示方法および教示用プレート
DE10241742B4 (de) * 2002-09-10 2008-06-26 Alstom Technology Ltd. Fertigungsanlage zum Herstellen von Produkten
SE524818C2 (sv) * 2003-02-13 2004-10-05 Abb Ab En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt
JP2004299013A (ja) * 2003-03-31 2004-10-28 Fanuc Ltd 誤差修正フィードバック機能を有するロボットオフラインプログラミング装置
JP4191080B2 (ja) 2004-04-07 2008-12-03 ファナック株式会社 計測装置
WO2006079617A1 (en) * 2005-01-26 2006-08-03 Abb Ab Device and method for calibrating the center point of a tool mounted on a robot by means of a camera
US7366583B2 (en) * 2005-09-01 2008-04-29 General Electric Company Methods and systems for fabricating components
DE102005050205A1 (de) * 2005-10-20 2007-04-26 Mtu Aero Engines Gmbh Verfahren und Vorrichtung zum Kompensieren von Lage-und Formabweichungen

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11656597B2 (en) 2020-12-07 2023-05-23 Industrial Technology Research Institute Method and system for recognizing deburring trajectory

Also Published As

Publication number Publication date
EP2122422B1 (de) 2010-09-29
WO2008113807A3 (en) 2008-11-06
WO2008113807A2 (en) 2008-09-25
WO2008113783A2 (en) 2008-09-25
EP2122422A2 (de) 2009-11-25
WO2008113783A3 (en) 2008-11-13
DE602008002823D1 (de) 2010-11-11

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