BR9910461A - Processo de controle para um robÈ - Google Patents
Processo de controle para um robÈInfo
- Publication number
- BR9910461A BR9910461A BR9910461-0A BR9910461A BR9910461A BR 9910461 A BR9910461 A BR 9910461A BR 9910461 A BR9910461 A BR 9910461A BR 9910461 A BR9910461 A BR 9910461A
- Authority
- BR
- Brazil
- Prior art keywords
- robot
- control process
- control
- thermal
- robè
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 4
- 238000005259 measurement Methods 0.000 abstract 1
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
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39033—Laser tracking of end effector, measure orientation of rotatable mirror
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49206—Compensation temperature, thermal displacement, use measured temperature
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49207—Compensate thermal displacement using measured distance
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/13—Handlers utilizing parallel links
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
Abstract
"PROCESSO DE CONTROLE PARA UM ROBÈ" A invenção refere-se a um processo para controlar um robó industrial e, mais particularmente, a um processo para reduzir variáveis de influência térmica, sendo que pontos de medição de referência são inseridos na área de trabalho do robó, os quais são atravessados pelo robó, sendo que os dados efetivos dos pontos de referência são processados por um computador de modo a ser obter dados de correção que são conduzidos à eletrónica de condução do robó. De acordo com a invenção configura-se um modelo de erro que corrige os erros térmicos de posicionamento e de orientação, sem que seja necessário determinar a temperatura efetiva no robó.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19821873A DE19821873C2 (de) | 1998-05-15 | 1998-05-15 | Verfahren zum Verringern des Einflusses von Temperaturänderungen auf Industrieroboter |
PCT/DE1999/001468 WO1999060452A2 (de) | 1998-05-15 | 1999-05-14 | Steuerverfahren für einen industrieroboter |
Publications (1)
Publication Number | Publication Date |
---|---|
BR9910461A true BR9910461A (pt) | 2001-01-02 |
Family
ID=7867914
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR9910461-0A BR9910461A (pt) | 1998-05-15 | 1999-05-14 | Processo de controle para um robÈ |
Country Status (14)
Country | Link |
---|---|
US (1) | US6345213B1 (pt) |
EP (1) | EP1086407B1 (pt) |
JP (1) | JP2002516424A (pt) |
AT (1) | ATE251770T1 (pt) |
AU (1) | AU5147699A (pt) |
BR (1) | BR9910461A (pt) |
DE (2) | DE19821873C2 (pt) |
ES (1) | ES2207265T3 (pt) |
HU (1) | HUP0101865A3 (pt) |
MX (1) | MXPA00011163A (pt) |
PL (1) | PL344784A1 (pt) |
PT (1) | PT1086407E (pt) |
TR (1) | TR200003375T2 (pt) |
WO (1) | WO1999060452A2 (pt) |
Families Citing this family (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU747878B2 (en) * | 1998-04-09 | 2002-05-30 | California Institute Of Technology | Electronic techniques for analyte detection |
DE19854011A1 (de) * | 1998-11-12 | 2000-05-25 | Knoll Alois | Einrichtung und Verfahren zum Vermessen von Mechanismen und ihrer Stellung |
DE19931676C2 (de) * | 1999-07-08 | 2002-07-11 | Kuka Schweissanlagen Gmbh | Verfahren zum Vermessen von Werkstücken und Bearbeitungsstation |
US6615112B1 (en) | 1999-06-26 | 2003-09-02 | Kuka Schweissanlagen Gmbh | Method and device for calibrating robot measuring stations, manipulators and associated optical measuring devices |
JP3594016B2 (ja) * | 2001-01-30 | 2004-11-24 | 日本電気株式会社 | ロボットのプログラム実行方法、ロボットシステムおよびプログラム処理装置 |
JP4108342B2 (ja) * | 2001-01-30 | 2008-06-25 | 日本電気株式会社 | ロボット、ロボット制御システム、およびそのプログラム |
DE10164944B4 (de) * | 2001-10-15 | 2013-03-28 | Hermann, Dr.-Ing. Tropf | Vorrichtung und Verfahren zur Korrektur der Bewegung von Greif- und Bearbeitungswerkzeugen |
DE10153049B4 (de) * | 2001-10-26 | 2007-03-08 | Wiest Ag | 3D-Koordinationssystem |
DE10236844B4 (de) * | 2002-08-08 | 2015-02-19 | Volkswagen Ag | Überwachung der Prozessgenauigkeit |
DE10302592A1 (de) | 2003-01-22 | 2004-07-29 | Claas Fertigungstechnik Gmbh | Verfahren und Vorrichtung zum Betreiben eines Arbeitsroboters |
DE102004026185A1 (de) * | 2004-05-28 | 2005-12-22 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters |
DE102007001395B4 (de) * | 2007-01-09 | 2015-10-15 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Justieren wenigstens einer Achse |
DE102007006708A1 (de) | 2007-02-10 | 2008-08-14 | Abb Research Ltd. | Verfahren zur Sicherung eines Handhabungsgeräts |
DE102007043632B4 (de) * | 2007-09-13 | 2013-03-21 | Kuka Roboter Gmbh | Industrieroboter mit einer Entfernungsmessvorrichtung und Verfahren zum Vermessen eines Objekts |
US20090326712A1 (en) * | 2008-06-26 | 2009-12-31 | Utica Enterprises, Inc. | Calibration for vehicle body assembly |
DE102008060052A1 (de) * | 2008-12-02 | 2010-06-17 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zur Kompensation einer kinematischen Abweichung |
DE102009054421A1 (de) | 2009-11-24 | 2011-06-01 | Kuka Roboter Gmbh | Verfahren zum Erstellen eines Robotermodells und Industrieroboter |
US8412378B2 (en) | 2009-12-02 | 2013-04-02 | GM Global Technology Operations LLC | In-vivo tension calibration in tendon-driven manipulators |
DE102010031248A1 (de) * | 2010-07-12 | 2012-01-12 | Kuka Roboter Gmbh | Verfahren zum Vermessen eines Roboterarms eines Industrieroboters |
IT1405141B1 (it) * | 2011-02-25 | 2013-12-20 | Camozzi Machine Tools S P A Ora Innse Berardi S P A | Macchina utensile con compensazione delle deformazioni termiche di organi di misura |
DE102011017398A1 (de) * | 2011-04-18 | 2012-10-18 | Kuka Roboter Gmbh | Verfahren und Mittel zum Steuern einer Roboteranordnung |
US10088826B2 (en) * | 2014-08-20 | 2018-10-02 | Ford Global Technologies, Llc | CNC machine thermal growth characterization and thermal compensation correction |
DE102014119654A1 (de) * | 2014-12-29 | 2016-06-30 | Brötje-Automation GmbH | Verfahren zur Kompensation einer Abweichung eines Arbeitspunkts |
WO2016183390A1 (en) * | 2015-05-13 | 2016-11-17 | Taktia Llc | Systems, methods and apparatus for guided tools |
DE102015211407A1 (de) * | 2015-06-22 | 2016-12-22 | Kuka Roboter Gmbh | Verbesserung der Temperaturdriftkompensation durch geregelte Überkompensation |
DE102015211405A1 (de) * | 2015-06-22 | 2016-12-22 | Kuka Roboter Gmbh | Verbesserung der Temperaturdriftkompensation durch Kalibrierung am Bauteil und Einlernen der Parametersätze |
DE102015211406A1 (de) * | 2015-06-22 | 2016-12-22 | Kuka Roboter Gmbh | Verbesserung der Temperaturdriftkompensation durch Einlernen der Restdrift |
EP3769174B1 (en) * | 2018-03-21 | 2022-07-06 | Realtime Robotics, Inc. | Motion planning of a robot for various environments and tasks and improved operation of same |
CN111352098B (zh) * | 2020-02-21 | 2021-11-19 | 奥比中光科技集团股份有限公司 | 一种ToF相机的温漂标定的方法及*** |
CN112147951B (zh) * | 2020-09-28 | 2022-09-30 | 沈机(上海)智能***研发设计有限公司 | 机加工设备热误差补偿方法及其装置、***、介质、终端 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3302063C2 (de) * | 1983-01-22 | 1986-06-19 | Brüstle, Michael, Dr.-Ing., 7000 Stuttgart | Einrichtung zur Kompensation von Lagefehlern an Werkzeug- oder Meßmaschinen sowie an Industrie-Robotern |
JPS61134808A (ja) * | 1984-12-05 | 1986-06-21 | Mitsubishi Electric Corp | 産業用ロポツト装置 |
US4986724A (en) * | 1987-11-10 | 1991-01-22 | Cincinnati Milacron Inc. | System for compensated motion of coupled robot axes |
US4969108A (en) * | 1988-04-08 | 1990-11-06 | Cincinnati Milacron Inc. | Vision seam tracking method and apparatus for a manipulator |
KR940006570B1 (ko) * | 1992-01-14 | 1994-07-22 | 한국과학기술원연구원 | 온도변화에 의한 로보트 팔길이 보정용 캘리브레이션 시스템(calibration system) |
US5400638A (en) * | 1992-01-14 | 1995-03-28 | Korea Institute Of Science And Technology | Calibration system for compensation of arm length variation of an industrial robot due to peripheral temperature change |
US5201106A (en) * | 1992-05-01 | 1993-04-13 | General Motors Of Canada Limited | Apparatus and method of the control of installing weather stripping in a door or like opening by a robot |
JPH0699373A (ja) * | 1992-09-21 | 1994-04-12 | Toyoda Mach Works Ltd | ロボット制御装置 |
JPH06297362A (ja) * | 1993-04-15 | 1994-10-25 | Nachi Fujikoshi Corp | ロボット位置補正方法及び装置 |
EP0625739B1 (en) * | 1993-05-18 | 1999-08-04 | Koninklijke Philips Electronics N.V. | Apparatus for movement of an object |
US6078846A (en) * | 1996-02-06 | 2000-06-20 | Perceptron, Inc. | Calibration and compensation of robot-based gauging system |
WO1997043703A1 (en) * | 1996-05-10 | 1997-11-20 | Automated Precision, Inc. | Real time machine tool error correction using global differential wet modeling |
US5903459A (en) * | 1996-06-06 | 1999-05-11 | The Boeing Company | Method for product acceptance by improving the accuracy of machines |
-
1998
- 1998-05-15 DE DE19821873A patent/DE19821873C2/de not_active Expired - Lifetime
-
1999
- 1999-05-14 AU AU51476/99A patent/AU5147699A/en not_active Abandoned
- 1999-05-14 PL PL99344784A patent/PL344784A1/xx not_active IP Right Cessation
- 1999-05-14 EP EP99936254A patent/EP1086407B1/de not_active Expired - Lifetime
- 1999-05-14 AT AT99936254T patent/ATE251770T1/de not_active IP Right Cessation
- 1999-05-14 TR TR2000/03375T patent/TR200003375T2/xx unknown
- 1999-05-14 HU HU0101865A patent/HUP0101865A3/hu unknown
- 1999-05-14 PT PT99936254T patent/PT1086407E/pt unknown
- 1999-05-14 DE DE19980910T patent/DE19980910D2/de not_active Expired - Fee Related
- 1999-05-14 WO PCT/DE1999/001468 patent/WO1999060452A2/de not_active Application Discontinuation
- 1999-05-14 JP JP2000550006A patent/JP2002516424A/ja active Pending
- 1999-05-14 ES ES99936254T patent/ES2207265T3/es not_active Expired - Lifetime
- 1999-05-14 MX MXPA00011163A patent/MXPA00011163A/es not_active IP Right Cessation
- 1999-05-14 BR BR9910461-0A patent/BR9910461A/pt not_active Application Discontinuation
- 1999-05-14 US US09/700,438 patent/US6345213B1/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
ES2207265T3 (es) | 2004-05-16 |
EP1086407A2 (de) | 2001-03-28 |
AU5147699A (en) | 1999-12-06 |
HUP0101865A3 (en) | 2003-08-28 |
US6345213B1 (en) | 2002-02-05 |
MXPA00011163A (es) | 2003-04-22 |
WO1999060452A3 (de) | 1999-12-29 |
PL344784A1 (en) | 2001-11-19 |
EP1086407B1 (de) | 2003-10-08 |
DE19821873A1 (de) | 1999-11-25 |
DE19980910D2 (de) | 2001-06-28 |
TR200003375T2 (tr) | 2001-05-21 |
PT1086407E (pt) | 2004-03-31 |
HUP0101865A2 (hu) | 2001-09-28 |
JP2002516424A (ja) | 2002-06-04 |
WO1999060452A2 (de) | 1999-11-25 |
DE19821873C2 (de) | 2000-07-13 |
ATE251770T1 (de) | 2003-10-15 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
B25A | Requested transfer of rights approved |
Owner name: KUKA ROBOTER GMBH (DE) Free format text: TRANSFERIDO DE: INSTITUT FUR WERKZEUGMASCHINEN UND BETRIEBSWISSENSCHAFTEN |
|
B06A | Patent application procedure suspended [chapter 6.1 patent gazette] | ||
B11B | Dismissal acc. art. 36, par 1 of ipl - no reply within 90 days to fullfil the necessary requirements |