CN107953336A - 机械手超声无损检测中被测件装卡偏差的修正方法及*** - Google Patents
机械手超声无损检测中被测件装卡偏差的修正方法及*** Download PDFInfo
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- CN107953336A CN107953336A CN201711447179.5A CN201711447179A CN107953336A CN 107953336 A CN107953336 A CN 107953336A CN 201711447179 A CN201711447179 A CN 201711447179A CN 107953336 A CN107953336 A CN 107953336A
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- 238000002715 modification method Methods 0.000 title abstract 2
- 238000005259 measurement Methods 0.000 claims abstract description 37
- 238000000034 method Methods 0.000 claims abstract description 31
- 239000013598 vector Substances 0.000 claims description 78
- 239000011159 matrix material Substances 0.000 claims description 21
- 238000009659 non-destructive testing Methods 0.000 claims description 15
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 6
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- 238000011156 evaluation Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 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
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- Engineering & Computer Science (AREA)
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- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109940604A (zh) * | 2019-01-29 | 2019-06-28 | 中国工程物理研究院激光聚变研究中心 | 基于点云数据的工件三维定位***及方法 |
CN110340738A (zh) * | 2019-06-21 | 2019-10-18 | 武汉理工大学 | 一种基于pca的机器人拉丝高铁白车身工件精确标定方法 |
CN110664438A (zh) * | 2019-10-22 | 2020-01-10 | 深圳瀚维智能医疗科技有限公司 | 超声扫查轨迹规划方法、装置、存储介质及计算机设备 |
CN113386136A (zh) * | 2021-06-30 | 2021-09-14 | 华中科技大学 | 一种基于标准球阵目标估计的机器人位姿矫正方法及*** |
CN113643282A (zh) * | 2021-08-31 | 2021-11-12 | 歌尔光学科技有限公司 | 一种工件涂胶轨迹生成方法、装置、电子设备及存储介质 |
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DE3311526C2 (zh) * | 1983-03-30 | 1987-12-17 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung Ev, 8000 Muenchen, De | |
CN103009390A (zh) * | 2012-12-20 | 2013-04-03 | 中国科学院自动化研究所 | 基于显微视觉的对准和抓取柱状微零件的方法与装置 |
CN104889864A (zh) * | 2015-05-21 | 2015-09-09 | 天津智通机器人有限公司 | 一种自动磨削抛光*** |
CN106501378A (zh) * | 2016-12-12 | 2017-03-15 | 北京理工大学 | 一种超声显微镜无损检测性能的综合校准试块 |
US20170095929A1 (en) * | 2015-10-06 | 2017-04-06 | General Electric Company | System for checking calibration of a robotic multi-axis machine |
CN106645433A (zh) * | 2016-12-12 | 2017-05-10 | 北京理工大学 | 一种用于超声自动检测***的三维校准试块 |
US20170129062A1 (en) * | 2015-11-11 | 2017-05-11 | Branson Ultrasonics Corporation | Work Piece Processing Device With Servo-Elastic Actuator System With Simultaneous Precision Force And Position Control |
CN106990171A (zh) * | 2017-05-19 | 2017-07-28 | 中国兵器科学研究院宁波分院 | 一种考虑工件装夹误差校正的超声波自动检测方法 |
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2017
- 2017-12-27 CN CN201711447179.5A patent/CN107953336B/zh active Active
Patent Citations (8)
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DE3311526C2 (zh) * | 1983-03-30 | 1987-12-17 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung Ev, 8000 Muenchen, De | |
CN103009390A (zh) * | 2012-12-20 | 2013-04-03 | 中国科学院自动化研究所 | 基于显微视觉的对准和抓取柱状微零件的方法与装置 |
CN104889864A (zh) * | 2015-05-21 | 2015-09-09 | 天津智通机器人有限公司 | 一种自动磨削抛光*** |
US20170095929A1 (en) * | 2015-10-06 | 2017-04-06 | General Electric Company | System for checking calibration of a robotic multi-axis machine |
US20170129062A1 (en) * | 2015-11-11 | 2017-05-11 | Branson Ultrasonics Corporation | Work Piece Processing Device With Servo-Elastic Actuator System With Simultaneous Precision Force And Position Control |
CN106501378A (zh) * | 2016-12-12 | 2017-03-15 | 北京理工大学 | 一种超声显微镜无损检测性能的综合校准试块 |
CN106645433A (zh) * | 2016-12-12 | 2017-05-10 | 北京理工大学 | 一种用于超声自动检测***的三维校准试块 |
CN106990171A (zh) * | 2017-05-19 | 2017-07-28 | 中国兵器科学研究院宁波分院 | 一种考虑工件装夹误差校正的超声波自动检测方法 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109940604A (zh) * | 2019-01-29 | 2019-06-28 | 中国工程物理研究院激光聚变研究中心 | 基于点云数据的工件三维定位***及方法 |
CN109940604B (zh) * | 2019-01-29 | 2021-10-15 | 中国工程物理研究院激光聚变研究中心 | 基于点云数据的工件三维定位***及方法 |
CN110340738A (zh) * | 2019-06-21 | 2019-10-18 | 武汉理工大学 | 一种基于pca的机器人拉丝高铁白车身工件精确标定方法 |
CN110664438A (zh) * | 2019-10-22 | 2020-01-10 | 深圳瀚维智能医疗科技有限公司 | 超声扫查轨迹规划方法、装置、存储介质及计算机设备 |
CN110664438B (zh) * | 2019-10-22 | 2021-09-10 | 深圳瀚维智能医疗科技有限公司 | 超声扫查轨迹规划方法、装置、存储介质及计算机设备 |
CN113386136A (zh) * | 2021-06-30 | 2021-09-14 | 华中科技大学 | 一种基于标准球阵目标估计的机器人位姿矫正方法及*** |
CN113386136B (zh) * | 2021-06-30 | 2022-05-20 | 华中科技大学 | 一种基于标准球阵目标估计的机器人位姿矫正方法及*** |
CN113643282A (zh) * | 2021-08-31 | 2021-11-12 | 歌尔光学科技有限公司 | 一种工件涂胶轨迹生成方法、装置、电子设备及存储介质 |
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Inventor after: Xu Chunguang Inventor after: Zhang Hanming Inventor after: Xiao Dingguo Inventor after: Hao Juan Inventor after: Ma Pengzhi Inventor after: Guo Canzhi Inventor before: Zhang Hanming Inventor before: Xiao Dingguo Inventor before: Xu Chunguang Inventor before: Hao Juan Inventor before: Ma Pengzhi Inventor before: Guo Canzhi |