CN111633651B - 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
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- CN111633651B CN111633651B CN202010466105.1A CN202010466105A CN111633651B CN 111633651 B CN111633651 B CN 111633651B CN 202010466105 A CN202010466105 A CN 202010466105A CN 111633651 B CN111633651 B CN 111633651B
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- China
- Prior art keywords
- hollow tubular
- tubular tool
- tcp
- robot
- rigid sphere
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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
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Priority Applications (2)
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 |
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)
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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 CN111633651A (zh) | 2020-09-08 |
CN111633651B true CN111633651B (zh) | 2021-01-29 |
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Family Applications (1)
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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)
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CN (1) | CN111633651B (zh) |
WO (1) | WO2021238104A1 (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
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 |
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 |
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 (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08384B2 (ja) * | 1987-09-16 | 1996-01-10 | ファナック株式会社 | ツール先端点の自動設定方式 |
EP1883780B1 (en) * | 2005-05-20 | 2013-07-03 | Orthosoft, Inc. | Method and apparatus for calibrating spherical objects using a computer system |
WO2010060459A1 (en) * | 2008-11-25 | 2010-06-03 | Abb Technology Ab | A method and an apparatus for calibration of an industrial robot system |
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 (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
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 |
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 |
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 |
---|
一种工业机器人TCP 位置标定算法研究;洪磊;《机械设计》;20170320;全文 * |
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Publication number | Publication date |
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WO2021238104A1 (zh) | 2021-12-02 |
CN111633651A (zh) | 2020-09-08 |
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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. |