CN111633651A - 一种中空管状工具的tcp标定方法 - Google Patents
一种中空管状工具的tcp标定方法 Download PDFInfo
- Publication number
- CN111633651A CN111633651A CN202010466105.1A CN202010466105A CN111633651A CN 111633651 A CN111633651 A CN 111633651A CN 202010466105 A CN202010466105 A CN 202010466105A CN 111633651 A CN111633651 A CN 111633651A
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- China
- Prior art keywords
- hollow tubular
- tubular tool
- tcp
- robot
- rigid sphere
- Prior art date
- Legal status (The legal status 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 status listed.)
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Classifications
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- 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)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims (4)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010466105.1A CN111633651B (zh) | 2020-05-28 | 2020-05-28 | 一种中空管状工具的tcp标定方法 |
PCT/CN2020/130196 WO2021238104A1 (zh) | 2020-05-28 | 2020-11-19 | 一种中空管状工具的tcp标定方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN202010466105.1A CN111633651B (zh) | 2020-05-28 | 2020-05-28 | 一种中空管状工具的tcp标定方法 |
Publications (2)
Publication Number | Publication Date |
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CN111633651A true CN111633651A (zh) | 2020-09-08 |
CN111633651B CN111633651B (zh) | 2021-01-29 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN202010466105.1A Active CN111633651B (zh) | 2020-05-28 | 2020-05-28 | 一种中空管状工具的tcp标定方法 |
Country Status (2)
Country | Link |
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CN (1) | CN111633651B (zh) |
WO (1) | WO2021238104A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021238104A1 (zh) * | 2020-05-28 | 2021-12-02 | 杭州键嘉机器人有限公司 | 一种中空管状工具的tcp标定方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6478774A (en) * | 1987-09-16 | 1989-03-24 | Fanuc Ltd | Automatic setting system of tool nose point |
CN1831468A (zh) * | 2005-03-10 | 2006-09-13 | 新奥博为技术有限公司 | 激光扫描器与机器人的相对位置的标定方法 |
CA2597957C (en) * | 2005-05-20 | 2009-12-15 | Orthosoft Inc. | Method and apparatus for calibrating spherical objects using a computer system |
CN103114809A (zh) * | 2013-02-06 | 2013-05-22 | 中国石油大学(华东) | 吸振式井下液压脉冲发生装置及其钻井方法 |
CN106483963A (zh) * | 2015-08-26 | 2017-03-08 | 泰科电子(上海)有限公司 | 机器人***的自动标定方法 |
CN111145630A (zh) * | 2020-01-20 | 2020-05-12 | 福建省特种设备检验研究院 | 一种用于工业机器人工具坐标系测定的教具及其使用方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2350750B1 (en) * | 2008-11-25 | 2012-10-31 | ABB Technology Ltd | A method and an apparatus for calibration of an industrial robot system |
JP6478774B2 (ja) * | 2015-04-08 | 2019-03-06 | キヤノン株式会社 | 撮像装置、撮像方法及びプログラム |
CN111127568B (zh) * | 2019-12-31 | 2023-07-04 | 南京埃克里得视觉技术有限公司 | 一种基于空间点位信息的相机位姿标定方法 |
CN111633651B (zh) * | 2020-05-28 | 2021-01-29 | 杭州键嘉机器人有限公司 | 一种中空管状工具的tcp标定方法 |
-
2020
- 2020-05-28 CN CN202010466105.1A patent/CN111633651B/zh active Active
- 2020-11-19 WO PCT/CN2020/130196 patent/WO2021238104A1/zh active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6478774A (en) * | 1987-09-16 | 1989-03-24 | Fanuc Ltd | Automatic setting system of tool nose point |
CN1831468A (zh) * | 2005-03-10 | 2006-09-13 | 新奥博为技术有限公司 | 激光扫描器与机器人的相对位置的标定方法 |
CA2597957C (en) * | 2005-05-20 | 2009-12-15 | Orthosoft Inc. | Method and apparatus for calibrating spherical objects using a computer system |
CN103114809A (zh) * | 2013-02-06 | 2013-05-22 | 中国石油大学(华东) | 吸振式井下液压脉冲发生装置及其钻井方法 |
CN106483963A (zh) * | 2015-08-26 | 2017-03-08 | 泰科电子(上海)有限公司 | 机器人***的自动标定方法 |
CN111145630A (zh) * | 2020-01-20 | 2020-05-12 | 福建省特种设备检验研究院 | 一种用于工业机器人工具坐标系测定的教具及其使用方法 |
Non-Patent Citations (1)
Title |
---|
洪磊: "一种工业机器人TCP 位置标定算法研究", 《机械设计》 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021238104A1 (zh) * | 2020-05-28 | 2021-12-02 | 杭州键嘉机器人有限公司 | 一种中空管状工具的tcp标定方法 |
Also Published As
Publication number | Publication date |
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WO2021238104A1 (zh) | 2021-12-02 |
CN111633651B (zh) | 2021-01-29 |
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Effective date of registration: 20201229 Address after: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Applicant after: HANGZHOU JIANJIA ROBOT Co.,Ltd. Address before: 518000 1003, building B4, nanjingxin village, Minzhi street, Longhua District, Shenzhen City, Guangdong Province Applicant before: Du Siao |
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Address after: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Jianjia Medical Technology Co.,Ltd. Address before: 310000 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU JIANJIA ROBOT Co.,Ltd. |