CN111730597A - 一种搬运机械手的旋转标定方法 - Google Patents
一种搬运机械手的旋转标定方法 Download PDFInfo
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- CN111730597A CN111730597A CN202010638350.6A CN202010638350A CN111730597A CN 111730597 A CN111730597 A CN 111730597A CN 202010638350 A CN202010638350 A CN 202010638350A CN 111730597 A CN111730597 A CN 111730597A
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- Prior art keywords
- rotary joint
- rotation
- center
- camera
- angle
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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
- B25J9/1694—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
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
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Priority Applications (1)
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CN202010638350.6A CN111730597B (zh) | 2020-07-06 | 2020-07-06 | 一种搬运机械手的旋转标定方法 |
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CN202010638350.6A CN111730597B (zh) | 2020-07-06 | 2020-07-06 | 一种搬运机械手的旋转标定方法 |
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CN111730597A true CN111730597A (zh) | 2020-10-02 |
CN111730597B CN111730597B (zh) | 2021-01-12 |
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CN202010638350.6A Active CN111730597B (zh) | 2020-07-06 | 2020-07-06 | 一种搬运机械手的旋转标定方法 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115008477A (zh) * | 2022-08-09 | 2022-09-06 | 苏州华兴源创科技股份有限公司 | 机械手移动补偿方法、装置、计算机可读存储介质 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106127722A (zh) * | 2016-05-03 | 2016-11-16 | 深圳视觉龙智能传感器有限公司 | 多相机的标定及对位贴合方法 |
CN106426172A (zh) * | 2016-10-27 | 2017-02-22 | 深圳元启智能技术有限公司 | 一种工业机器人工具坐标系的标定方法与*** |
CN109176514A (zh) * | 2018-09-03 | 2019-01-11 | 亿嘉和科技股份有限公司 | 一种基于立体视觉伺服的绕轴旋转机构操作方法及操作机构 |
CN110342241A (zh) * | 2018-04-02 | 2019-10-18 | 上海微电子装备(集团)股份有限公司 | 一种自动上料*** |
US10569418B2 (en) * | 2017-09-22 | 2020-02-25 | Fanuc Corporation | Robot controller for executing calibration, measurement system and calibration method |
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2020
- 2020-07-06 CN CN202010638350.6A patent/CN111730597B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106127722A (zh) * | 2016-05-03 | 2016-11-16 | 深圳视觉龙智能传感器有限公司 | 多相机的标定及对位贴合方法 |
CN106426172A (zh) * | 2016-10-27 | 2017-02-22 | 深圳元启智能技术有限公司 | 一种工业机器人工具坐标系的标定方法与*** |
US10569418B2 (en) * | 2017-09-22 | 2020-02-25 | Fanuc Corporation | Robot controller for executing calibration, measurement system and calibration method |
CN110342241A (zh) * | 2018-04-02 | 2019-10-18 | 上海微电子装备(集团)股份有限公司 | 一种自动上料*** |
CN109176514A (zh) * | 2018-09-03 | 2019-01-11 | 亿嘉和科技股份有限公司 | 一种基于立体视觉伺服的绕轴旋转机构操作方法及操作机构 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115008477A (zh) * | 2022-08-09 | 2022-09-06 | 苏州华兴源创科技股份有限公司 | 机械手移动补偿方法、装置、计算机可读存储介质 |
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CN111730597B (zh) | 2021-01-12 |
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Application publication date: 20201002 Assignee: WUHU LONGSHEN ROBOT Co.,Ltd. Assignor: FOSHAN LONGSHEN ROBOT Co.,Ltd. Contract record no.: X2022440000248 Denomination of invention: A rotation calibration method for handling manipulator Granted publication date: 20210112 License type: Common License Record date: 20221018 Application publication date: 20201002 Assignee: Foshan Longshen Intelligent Equipment Co.,Ltd. Assignor: FOSHAN LONGSHEN ROBOT Co.,Ltd. Contract record no.: X2022440000247 Denomination of invention: A rotation calibration method for handling manipulator Granted publication date: 20210112 License type: Common License Record date: 20221018 Application publication date: 20201002 Assignee: Shiyan Longshen Robot Co.,Ltd. Assignor: FOSHAN LONGSHEN ROBOT Co.,Ltd. Contract record no.: X2022440000249 Denomination of invention: A rotation calibration method for handling manipulator Granted publication date: 20210112 License type: Common License Record date: 20221018 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A Rotation Calibration Method for Handling Manipulators Effective date of registration: 20230728 Granted publication date: 20210112 Pledgee: China Co. truction Bank Corp Foshan branch Pledgor: FOSHAN LONGSHEN ROBOT Co.,Ltd. Registration number: Y2023980050200 |