DE3526919A1 - Measuring device for determining the positional accuracy of freely programmable manipulators - Google Patents
Measuring device for determining the positional accuracy of freely programmable manipulatorsInfo
- Publication number
- DE3526919A1 DE3526919A1 DE19853526919 DE3526919A DE3526919A1 DE 3526919 A1 DE3526919 A1 DE 3526919A1 DE 19853526919 DE19853526919 DE 19853526919 DE 3526919 A DE3526919 A DE 3526919A DE 3526919 A1 DE3526919 A1 DE 3526919A1
- Authority
- DE
- Germany
- Prior art keywords
- measuring device
- movement
- freely programmable
- measuring
- determining
- 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.)
- Withdrawn
Links
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Description
Beschreibungdescription
MESSEINRICHTUNG ZUR BESTIMMUNG DER POSITIONIERGENAUIGKEIT VON FREI PROGRAMMIERBAREN HANDHABUNGSGERAETEN.MEASURING DEVICE FOR DETERMINING THE POSITIONING ACCURACY OF FREE PROGRAMMABLE HANDLING DEVICES.
Die Erfindung betrifft eine Messeinrichtung zur Bestimmung der Positioniergenauigkeit von frei programmierbaren Handhabungsgeraeten nach dem Oberbegriff des Anspruchs 1.The invention relates to a measuring device for determining the positioning accuracy of freely programmable handling devices according to the preamble of the claim 1.
Fuer zunehmend anspruchsvollere Einsatzaufgaben frei programmierbarer Handhabungsgeraete wie z. B. Industrieroboter ist eine genaue Kenntnis ihres Positionierverhaltens im dreidimensionalen Raum von entscheidender Bedeutung. Dies gilt insbesondere fuer solche Anwendungen, die praezise geradlinige Bewegungen der Handhabungsgegenstaende (Greifer, Werkzeuge, Bauteile) erfordern, z. B. beim Lichtbogenschweissen, Jet Cutting, Laser-Handhabung oder Fuegen und Montage. Eine vollstaendige Beschreibung der Position eines Gegenstandes im dreidimensionalen Raum liegt vor, wenn die Positionskoordinaten und die Orientierungswinkel dieses Gegenstandes bekannt sind (sechs Freiheitsgrade).Freely programmable for increasingly demanding operational tasks Handling devices such as B. Industrial robots require precise knowledge of their positioning behavior of crucial importance in three-dimensional space. This is especially true for such applications, the precise linear movements of the handling objects (Grippers, tools, components) require, e.g. B. in arc welding, jet cutting, Laser handling or joining and assembly. A full description of the position of an object in three-dimensional space is when the position coordinates and the angles of orientation of this object are known (six degrees of freedom).
Messanordnungen, die sowohl Position wie Orientierung eines Handhabungsgeraetes erfassen, sind bekannt fuer die Bestimmung der Positionsgenauigkeit und Wiederholgenauigkeit in einzelnen, diskreten Positionen. Messanordnungen hingegen, die auch fuer in Bewegung befindliche Handhabungsgeraete zur Bestimmung der Positioniergenauigkeit geeignet sind, erfassen ueblicherweise weniger als sechs Messkoordinaten, die zur Positionsbestimmung herangezogen werden koennen (Warnecke, H.J., Schraft, R.D.: Industrial Robots: Application Experience, 1982 I.F.S. Publications Ltd., S. 63-92 ; Deutsche Ausgabe: Industrieroboter, Krausskopf Verlag GmbH, Mainz 1979).Measuring arrangements that show both the position and the orientation of a handling device capture, are known for the determination of the position accuracy and repeatability in individual, discrete positions. Measurement arrangements, on the other hand, that are also used for moving The handling devices located there are suitable for determining the positioning accuracy usually record less than six measurement coordinates that are used to determine the position can be used (Warnecke, H.J., Schraft, R.D .: Industrial Robots: Application Experience, 1982 I.F.S. Publications Ltd., pp. 63-92; German edition: industrial robots, Krausskopf Verlag GmbH, Mainz 1979).
Der Erfindung liegt die Aufgabe zugrunde, die Positioniergenauigkeit frei programmierbarer Handhabungsgeraete in allen sechs Freiheitsgraden (Position und Orientierung) waehrend der Ausfuehrung einer vorprogrammierten Bewegung zu erfassen.The invention is based on the object of the positioning accuracy freely programmable handling devices in all six degrees of freedom (position and orientation) during the execution of a preprogrammed movement.
Diese Aufgabe wird erfindungsmaessig durch die kennzeichnenden Merkmale des Anspruchs 1 geloest.This task is made according to the invention by the characterizing features of claim 1 solved.
Eine Teilaufgabe dabei ist die Erfassung der Positionskoordinate in Richtung der ausgefuehrten Bewegung, die insbesondere bei grossraeumigen Bewegungen nur schwer zu ermitteln ist.One of the sub-tasks is the acquisition of the position coordinate in Direction of the executed movement, especially with large-scale movements difficult to determine.
Diese Aufgabe wird erfindungsmaessig durch die kennzeichnenden Merkmale des Anspruchs 2 geloest.This task is made according to the invention by the characterizing features of claim 2 solved.
Die mit der Erfindung erzielten Vorteile bestehen darin, dass dem Anwender eines frei programmierbaren Handhabungsgeraetes mittels der hier beschriebenen Messeinrichtung eine detailierte Kenntnis des Positionierverhaltens in allen sechs Freiheitsgraden vermittelt werden kann, die wichtige Aufschluesse ueber Moeglichkeiten und Grenzen dieses Handhabungsgeraetes zulaesst, bevor eine Einsatzentscheidung getroffen werden muss.The advantages achieved by the invention are that the User of a freely programmable handling device using the one described here Measuring device a detailed knowledge of the positioning behavior in all six Degrees of freedom can be conveyed, the important clues above Possibilities and limits of this handling device allow before a deployment decision must be taken.
Naturgemaess muessen waehrend eines Testlaufes eine grosse Anzahl von Messwerten in schneller Folge abgelesen und gespeichert werden, wenn statistisch zuverlaessige Testergebnisse gefordert sind. Eine wirkungsvolle Aufzeichungsmethode ist deshalb praktisch nicht zu verwirklichen, ohne sich der Hilfe von Computern zu bedienen. Deshalb ist als weiterer Vorteil zu betrachten, dass sich die beschriebene Messeinrichtung in vorzueglicher Weise fuer computerunterstuetzte Messwertaufnahme und Auswertung eignet. So kann beispielsweise der durch die Markierungen auf der Schablone hervorgerufene Messimpuls gemaess Anspruch 2 nicht nur fuer Zeitmessungen genutzt werden, sondern gleichzeitig auch zum Triggern der Messwertuebergabe der uebrigen Messwertaufnehmer. Bei dieser Vorgehensweise werden die zugeordneten Messwerte verschiedener Testlaeufe grundsaetzlich an demselben Messort aufgezeichnet, gegeben durch die Position der jeweiligen Markierung auf der Schablone. Eine Abhaengigkeit des Messortes von Schwankungen in der Bewegungsgeschwindigkeit des Handhabungsgeraetes wird somit weitgehend ausgeschaltet.Naturally, a large number must be used during a test run of measured values can be read and saved in quick succession, if statistical reliable test results are required. An effective method of recording is therefore practically impossible to achieve without the help of computers to use. Therefore it is to be regarded as a further advantage that the described Measuring device in an excellent way for computer-aided recording of measured values and evaluation. For example, the one indicated by the markings on the Template-induced measuring pulse according to claim 2 not only for time measurements can be used, but at the same time also to trigger the measured value transfer of the other transducers. With this procedure, the assigned measured values of different test runs basically recorded at the same measuring location by the position of the respective marking on the template. A dependency the measuring location of fluctuations in the speed of movement of the handling device is thus largely switched off.
Ein Ausfuehrungsbeispiel der Erfindung ist in Fig. 1 daryestellt und wird im folgenden naeher beschrieben.An exemplary embodiment of the invention is shown in FIG. 1 and is described in more detail below.
Bei der ausgefuehrten Messeinrichtung nach Fig. 1 werden als Messwertaufnehmer fuenf induktive, analoge Abstandsmesser und ein digitaler Infrarot-Sensor verwendet, montiert in einem integrierten Messkopf. Drei der induktiven Abstandsmesser (X1, X2, X3) sind in einer Ebene des Messkopfes angeordnet fuer die Ermittlung der X-Koordinate und der Winkel /2 und g , die uebrigen beiden (Y1, Y2) sind in einer zweiten Ebene rechtwinklig zur ersten angeordnet fuer die Ermittlung der Y-Koordinate und des Winkels d . Als Referenzschablone dient ein U-Stahl, dessen Seiten exakt geradlinig und rechtwinklig zueinander geschliffen sind. Als optische Markierung dient ein Aluminiumstreifen, der auf dem U-Stahl montiert ist und eine Vielzahl von in gleichen Abstaenden eingefraesten Nuten aufweist.In the case of the measuring device according to FIG. 1, the measured value recorders uses five inductive, analog distance meters and a digital infrared sensor, mounted in an integrated measuring head. Three of the inductive distance meters (X1, X2, X3) are arranged in a plane of the measuring head for the determination of the X-coordinate and the angle / 2 and g, the other two (Y1, Y2) are in a second plane Arranged at right angles to the first to determine the Y coordinate and the Angle d. A U-steel serves as a reference template, the sides of which are exactly straight and are ground at right angles to each other. A serves as an optical marking Aluminum strip that is mounted on the channel steel and a variety of in the same Has spacing milled grooves.
Wird nun der Messkopf, angeflanscht an das zu untersuchende Handhabungsgeraet, in etwa gleichbleibendem Abstand ueber die Schablone gefuehrt (wobei maximaler und minimaler Abstand durch den Messbereich der induktiven Abstandsmesser bestimmt werden), schaltet das Ausgangssignal des Infrarot-Sensors bei jedem Passieren einer Nutkante von 'High' zu 'Low' oder umgekehrt. Wird die Zeitspanne zwischen jedem Wechsel gemessen und aufgezeichnet, koennen Geschwindigkeiten und Beschleunigungen in Richtung der Z-Koordinate leicht berechnet werden, da Nutenabstand und Nutenweite (nZ) bekannt sind. Das gleiche Signal wird weiterhin dazu verwendet, die Uebergabe der induktiv erfassten Abstandsmesswerte zu triggern und jeweils drei gNX-Werte und zwei aY-Werte aufzuzeichnen.If the measuring head is now flanged to the handling device to be examined, guided over the stencil at approximately the same distance (with maximum and minimum distance can be determined by the measuring range of the inductive distance meter), switches the output signal of the infrared sensor every time it passes a groove edge from 'High' to 'Low' or vice versa. The time between each change is measured and recorded, can record speeds and accelerations in the direction of the Z coordinate can be easily calculated, since the slot distance and slot width (nZ) are known are. The same signal is still used to transfer the inductive to trigger the measured distance values and three gNX values and two aY values each to record.
Infolge der rechtwinkligen Anordnung der Messwertaufnehmer koennen die aufgezeichneten Relativwerte leicht in die Koordinaten des ortsfesten X, Y, Z, X , R, r- Koordinatensystems, transformiert werden, das mit der Referenzschablone verbunden ist.Due to the right-angled arrangement of the transducers the recorded relative values easily into the coordinates of the fixed X, Y, Z, X, R, r coordinate system, transformed with the reference template connected is.
(Ein prototypisches Messystem, das nach dem hier beschriebenem Prinzip verwirklicht worden ist, hat die folgenden Kenndaten: Nutzbare Messlaenge des U-Stahls 1000 mm, Nutabstand 2,5 mm, Nutweite 1,25 mm, Abstandsbereich der induktiven Messwertaufnehmer 2 mm bis 10 mm, maximale Bewegungsgeschwindigkeit des Messkopfes 1000 mm/sec., Aufloesung des A/D-Wandlers 0,01 mm.(A prototypical measuring system that works according to the principle described here has been realized, has the following characteristics: Usable measuring length of the channel steel 1000 mm, slot spacing 2.5 mm, slot width 1.25 mm, distance range of the inductive transducers 2 mm to 10 mm, maximum movement speed of the measuring head 1000 mm / sec., Resolution of the A / D converter 0.01 mm.
Messwertaufnahme und Auswertung werden durch einen handelsueblichen Micro-Computer ausgefuehrt, der zu diesem Zweck mit einem geeigneten Data-Acquisition-Board ausgestattet ist.)Measured value recording and evaluation are carried out by a standard Micro-computer executed for this purpose with a suitable data acquisition board Is provided.)
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19853526919 DE3526919A1 (en) | 1985-07-25 | 1985-07-25 | Measuring device for determining the positional accuracy of freely programmable manipulators |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19853526919 DE3526919A1 (en) | 1985-07-25 | 1985-07-25 | Measuring device for determining the positional accuracy of freely programmable manipulators |
Publications (1)
Publication Number | Publication Date |
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DE3526919A1 true DE3526919A1 (en) | 1986-01-02 |
Family
ID=6276934
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE19853526919 Withdrawn DE3526919A1 (en) | 1985-07-25 | 1985-07-25 | Measuring device for determining the positional accuracy of freely programmable manipulators |
Country Status (1)
Country | Link |
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DE (1) | DE3526919A1 (en) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1988006271A1 (en) * | 1987-02-12 | 1988-08-25 | Schweizerische Gesellschaft Für Werkzeugmaschinenb | Process for determining the geometrical precision of a linear guiding mechanism |
WO1988006714A1 (en) * | 1987-03-06 | 1988-09-07 | Renishaw Plc | Method of and apparatus for calibration of machines |
DE3742867A1 (en) * | 1987-12-17 | 1989-07-06 | Fraunhofer Ges Forschung | Device for fitting elements into corresponding receiving elements of an object |
EP0418446A1 (en) * | 1989-09-21 | 1991-03-27 | KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. | Method of and device for detecting the position of a body |
DE4312579A1 (en) * | 1993-04-17 | 1994-10-20 | Matthias Schum | Measuring machine (inspection machine) |
DE4345095C1 (en) * | 1993-12-31 | 1995-06-22 | Perthen Feinpruef Gmbh | Precision spatial point determination device for measuring machine |
DE4345094A1 (en) * | 1993-12-31 | 1995-07-06 | Perthen Feinpruef Gmbh | Shape measuring machine of cross arm type detecting shape deviation with machine bed |
DE4421301A1 (en) * | 1994-06-17 | 1995-12-21 | Leitz Mestechnik Gmbh | Method for correcting alignment errors in precision coordinate system |
DE19818405A1 (en) * | 1998-04-24 | 1999-10-28 | Brown & Sharpe Gmbh | Method of detecting geometric deviations in at least one axis of co-ordinate measurement arrangement |
EP1462757A1 (en) * | 2003-03-24 | 2004-09-29 | Klingelnberg GmbH | Device for the assessment of the spacial position of a cage sliding along a coordinate axis |
DE10313038A1 (en) * | 2003-03-24 | 2004-10-21 | Klingelnberg Gmbh | Device for detecting the position of a probe element in a multi-coordinate measuring device |
DE102008024444A1 (en) * | 2008-05-14 | 2009-12-03 | Carl Zeiss Industrielle Messtechnik Gmbh | Method for calibrating coordinate measuring device with measuring head, involves arranging reference body in measuring volume relative to coordinate axis of coordinate measuring device which is to be calibrated |
WO2010092131A1 (en) * | 2009-02-11 | 2010-08-19 | Leica Geosystems Ag | Coordinate measuring machine (cmm) and method of compensating errors in a cmm |
-
1985
- 1985-07-25 DE DE19853526919 patent/DE3526919A1/en not_active Withdrawn
Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1988006271A1 (en) * | 1987-02-12 | 1988-08-25 | Schweizerische Gesellschaft Für Werkzeugmaschinenb | Process for determining the geometrical precision of a linear guiding mechanism |
WO1988006714A1 (en) * | 1987-03-06 | 1988-09-07 | Renishaw Plc | Method of and apparatus for calibration of machines |
US5007006A (en) * | 1987-03-06 | 1991-04-09 | Renishaw Plc | Method of and apparatus for calibration of machines |
DE3742867A1 (en) * | 1987-12-17 | 1989-07-06 | Fraunhofer Ges Forschung | Device for fitting elements into corresponding receiving elements of an object |
DE3742867C3 (en) * | 1987-12-17 | 1998-04-09 | Fraunhofer Ges Forschung | Device for joining elements into corresponding receiving elements of an object |
US5131754A (en) * | 1989-09-21 | 1992-07-21 | Kabushiki Kaisha Kobe Seiko Sho | Method of and device for detecting position of body |
EP0418446A1 (en) * | 1989-09-21 | 1991-03-27 | KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. | Method of and device for detecting the position of a body |
DE4312579A1 (en) * | 1993-04-17 | 1994-10-20 | Matthias Schum | Measuring machine (inspection machine) |
DE4345095C1 (en) * | 1993-12-31 | 1995-06-22 | Perthen Feinpruef Gmbh | Precision spatial point determination device for measuring machine |
DE4345094A1 (en) * | 1993-12-31 | 1995-07-06 | Perthen Feinpruef Gmbh | Shape measuring machine of cross arm type detecting shape deviation with machine bed |
DE4421301A1 (en) * | 1994-06-17 | 1995-12-21 | Leitz Mestechnik Gmbh | Method for correcting alignment errors in precision coordinate system |
DE19818405B4 (en) * | 1998-04-24 | 2006-11-09 | Hexagon Metrology Gmbh | Method for detecting geometric deviations of at least one axis of a coordinate measuring machine |
DE19818405A1 (en) * | 1998-04-24 | 1999-10-28 | Brown & Sharpe Gmbh | Method of detecting geometric deviations in at least one axis of co-ordinate measurement arrangement |
EP1462757A1 (en) * | 2003-03-24 | 2004-09-29 | Klingelnberg GmbH | Device for the assessment of the spacial position of a cage sliding along a coordinate axis |
DE10313038B4 (en) * | 2003-03-24 | 2005-02-17 | Klingelnberg Gmbh | Device for detecting the position of a probe element in a multi-coordinate measuring device |
US7114265B2 (en) | 2003-03-24 | 2006-10-03 | Klingelnberg Gmbh | Apparatus for detecting the position of a probe element in a multi-coordinate measuring device |
DE10313038A1 (en) * | 2003-03-24 | 2004-10-21 | Klingelnberg Gmbh | Device for detecting the position of a probe element in a multi-coordinate measuring device |
DE102008024444A1 (en) * | 2008-05-14 | 2009-12-03 | Carl Zeiss Industrielle Messtechnik Gmbh | Method for calibrating coordinate measuring device with measuring head, involves arranging reference body in measuring volume relative to coordinate axis of coordinate measuring device which is to be calibrated |
DE102008024444B4 (en) | 2008-05-14 | 2020-07-09 | Carl Zeiss Industrielle Messtechnik Gmbh | Method and device for calibrating a coordinate measuring machine |
WO2010092131A1 (en) * | 2009-02-11 | 2010-08-19 | Leica Geosystems Ag | Coordinate measuring machine (cmm) and method of compensating errors in a cmm |
US9435645B2 (en) | 2009-02-11 | 2016-09-06 | Leica Geosystems Ag | Coordinate measuring machine (CMM) and method of compensating errors in a CMM |
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