DE3854235D1 - Automatische einstellung der werkzeugspitze. - Google Patents
Automatische einstellung der werkzeugspitze.Info
- Publication number
- DE3854235D1 DE3854235D1 DE3854235T DE3854235T DE3854235D1 DE 3854235 D1 DE3854235 D1 DE 3854235D1 DE 3854235 T DE3854235 T DE 3854235T DE 3854235 T DE3854235 T DE 3854235T DE 3854235 D1 DE3854235 D1 DE 3854235D1
- Authority
- DE
- Germany
- Prior art keywords
- tool tip
- automatic tool
- tip adjustment
- adjustment
- automatic
- 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.)
- Expired - Fee Related
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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39054—From teached different attitudes for same point calculate tool tip position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45083—Manipulators, robot
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62229820A JPH08384B2 (ja) | 1987-09-16 | 1987-09-16 | ツール先端点の自動設定方式 |
PCT/JP1988/000885 WO1989002349A1 (en) | 1987-09-16 | 1988-09-02 | Automatic setting of tool tip point |
Publications (2)
Publication Number | Publication Date |
---|---|
DE3854235D1 true DE3854235D1 (de) | 1995-08-31 |
DE3854235T2 DE3854235T2 (de) | 1995-12-14 |
Family
ID=16898178
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE3854235T Expired - Fee Related DE3854235T2 (de) | 1987-09-16 | 1988-09-02 | Automatische einstellung der werkzeugspitze. |
Country Status (6)
Country | Link |
---|---|
US (1) | US4979127A (de) |
EP (1) | EP0358765B1 (de) |
JP (1) | JPH08384B2 (de) |
KR (1) | KR960001963B1 (de) |
DE (1) | DE3854235T2 (de) |
WO (1) | WO1989002349A1 (de) |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5172311A (en) * | 1988-11-11 | 1992-12-15 | Mannesmann Rexroth Gmbh | Electrical amplifier for controlling valves |
EP0419670B1 (de) * | 1989-02-23 | 1995-12-20 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Verfahren und gerät zum mehrschichtigen auftragschweissen |
JPH02262982A (ja) * | 1989-03-31 | 1990-10-25 | Fanuc Ltd | ツールセンタポイントの設定方法 |
JP2654206B2 (ja) * | 1989-11-27 | 1997-09-17 | ファナック株式会社 | タッチアップ方法 |
FR2666265B1 (fr) * | 1990-08-30 | 1995-04-21 | Aerospatiale | Procede pour controler le positionnement des axes de pivotement de la tete d'usinage orientable d'une machine-outil a commande numerique programmable. |
FR2677755B1 (fr) * | 1991-06-14 | 1993-12-10 | Peugeot Automobiles | Dispositif pour le calage d'un robot par rapport a une ligne de production. |
JP3230826B2 (ja) * | 1991-10-16 | 2001-11-19 | ファナック株式会社 | スポット溶接ガンの位置補正方法及びロボット溶接装置 |
US5373221A (en) * | 1993-07-30 | 1994-12-13 | Fanuc Robotics North America, Inc. | Method and system for estimating robot tool center point speed |
SE501867C2 (sv) * | 1993-11-15 | 1995-06-12 | Asea Brown Boveri | Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp |
JP3681431B2 (ja) * | 1995-02-21 | 2005-08-10 | ファナック株式会社 | 直交座標系上で柔らかさが調節可能なサーボ系 |
SE9804450D0 (sv) † | 1998-12-17 | 1998-12-17 | Robotkonsult Ab | Metod och anordningar för automatisk in-line kalibrering av robot, verktyg och cell |
US6356807B1 (en) | 1999-08-13 | 2002-03-12 | Fanuc Robotics North America, Inc. | Method of determining contact positions, calibration parameters, and reference frames for robot assemblies |
US6467178B1 (en) * | 2000-09-11 | 2002-10-22 | Abb Automation Inc. | Method and apparatus for beam tool center point calibration |
KR20030069381A (ko) * | 2002-02-20 | 2003-08-27 | 삼성전자주식회사 | 로봇의 툴 캘리브레이션 방법 |
JP4191080B2 (ja) * | 2004-04-07 | 2008-12-03 | ファナック株式会社 | 計測装置 |
JP4267005B2 (ja) * | 2006-07-03 | 2009-05-27 | ファナック株式会社 | 計測装置及びキャリブレーション方法 |
JP5319271B2 (ja) * | 2008-12-26 | 2013-10-16 | 川崎重工業株式会社 | ロボットのツール位置検出方法、ロボットと対象物との相対位置検出方法、及びそれらの装置 |
JP2010240804A (ja) * | 2009-04-09 | 2010-10-28 | Ihi Corp | ツールセンタポイント調整方法 |
JP5425006B2 (ja) * | 2010-07-12 | 2014-02-26 | 株式会社神戸製鋼所 | ロボットのツールベクトルの導出に用いる治具 |
CN102681483B (zh) * | 2012-04-16 | 2017-02-15 | 科德数控股份有限公司 | 一种自动补偿温度形变和刀具形偏的坐标系*** |
JP5963515B2 (ja) * | 2012-04-20 | 2016-08-03 | 三菱電機株式会社 | ツールベクトルの自動設定方法 |
CN103292757B (zh) * | 2013-05-10 | 2016-03-16 | 西安航空动力股份有限公司 | 无榫端弯精锻叶片纵向检测基准的确定方法 |
CN107738852B (zh) * | 2017-11-30 | 2020-03-31 | 歌尔科技有限公司 | 定位方法、定位地图构建方法及机器人 |
KR101883458B1 (ko) | 2018-04-12 | 2018-07-31 | 주식회사 피엔케이이엔지 | 콘트롤 버터플라이 밸브 |
CN110986782A (zh) * | 2019-12-26 | 2020-04-10 | 苏州伟信奥图智能科技有限公司 | 适用于机械手的标定方法 |
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 |
WO2021258217A1 (en) * | 2020-06-25 | 2021-12-30 | Rogue Research Inc. | Articulated positioning system for a scientific or medical tool, robotized positioning assembly comprising same and corresponding method |
CN112045684B (zh) * | 2020-09-05 | 2021-07-06 | 杭州键嘉机器人有限公司 | 一种自动辅助标定装置及其方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59180605A (ja) * | 1983-03-31 | 1984-10-13 | Hitachi Ltd | ロボツトの作業デ−タ変換装置 |
JPS59218513A (ja) * | 1983-05-26 | 1984-12-08 | Fanuc Ltd | 工業用ロボツトの円弧制御法 |
JPS59232781A (ja) * | 1983-06-17 | 1984-12-27 | 株式会社日立製作所 | ロボツトのハンドの制御装置 |
JPS60209806A (ja) * | 1984-04-03 | 1985-10-22 | Fanuc Ltd | 工業用ロボツトの工具位置の測定方式 |
JP2640339B2 (ja) * | 1984-12-03 | 1997-08-13 | 株式会社不二越 | ロボット定数の自動補正方法 |
JPS61240304A (ja) * | 1985-04-17 | 1986-10-25 | Hitachi Ltd | 産業用ロボツトのエンド・エフエクタ取付け誤差演算装置 |
SE464855B (sv) * | 1986-09-29 | 1991-06-24 | Asea Ab | Foerfarande vid en industrirobot foer kalibrering av en sensor |
JP2728399B2 (ja) * | 1987-03-19 | 1998-03-18 | 川崎重工業株式会社 | ロボツトの制御方法 |
US4835710A (en) * | 1987-07-17 | 1989-05-30 | Cincinnati Milacron Inc. | Method of moving and orienting a tool along a curved path |
JPH06125206A (ja) * | 1992-10-12 | 1994-05-06 | Tdk Corp | 誘電体フィルタ |
-
1987
- 1987-09-16 JP JP62229820A patent/JPH08384B2/ja not_active Expired - Fee Related
-
1988
- 1988-09-02 DE DE3854235T patent/DE3854235T2/de not_active Expired - Fee Related
- 1988-09-02 KR KR1019890700661A patent/KR960001963B1/ko not_active IP Right Cessation
- 1988-09-02 WO PCT/JP1988/000885 patent/WO1989002349A1/ja active IP Right Grant
- 1988-09-02 EP EP88907823A patent/EP0358765B1/de not_active Expired - Lifetime
-
1989
- 1989-03-27 US US07/335,539 patent/US4979127A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
WO1989002349A1 (en) | 1989-03-23 |
JPH08384B2 (ja) | 1996-01-10 |
DE3854235T2 (de) | 1995-12-14 |
EP0358765A1 (de) | 1990-03-21 |
KR890701288A (ko) | 1989-12-20 |
EP0358765A4 (en) | 1993-05-12 |
KR960001963B1 (ko) | 1996-02-08 |
US4979127A (en) | 1990-12-18 |
JPS6478774A (en) | 1989-03-24 |
EP0358765B1 (de) | 1995-07-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE3854235D1 (de) | Automatische einstellung der werkzeugspitze. | |
DE3874635D1 (de) | Schneidwerkzeug. | |
DE3854650D1 (de) | Selbstätiges sphygmomanometer. | |
DE3889304D1 (de) | Werkzeugmagazin. | |
DE3882516D1 (de) | Schneidewerkzeug. | |
FI853084A0 (fi) | Tvaettmedel foer automatiska diskmaskiner. | |
NO891589D0 (no) | Automatisk sprayboks. | |
FI853083L (fi) | Tvaettmedel foer automatiska diskmaskiner. | |
DE3880617D1 (de) | Schneideinsatz. | |
DE3578886D1 (de) | Werkzeugtraeger. | |
DE3850884D1 (de) | Selbsttätiges sphygmomanometer. | |
DE3668961D1 (de) | Selbsttaetige nachstellvorrichtung. | |
DE3861824D1 (de) | Schneidwerkzeug. | |
DE3861570D1 (de) | Spannfutter. | |
DE3876493D1 (de) | Automatisches klavier. | |
NO893173D0 (no) | Fremgangsmaate for langtidsgjoedsling. | |
DE3872110D1 (de) | Automatischer pupillometer. | |
DE3580395D1 (de) | Werkzeughalterung. | |
FI890301A (fi) | Automatiskt flissaoll. | |
SE8801573L (sv) | Helisolerat spaennstycke | |
MX9203754A (es) | Antagonistas de leucotrieno. | |
FI880909A (fi) | Heterocyklyl-2-propyn-1-aminer. | |
IT8919047A0 (it) | Pinza portapunta. | |
IT1216492B (it) | Puntale automatico per giravite. | |
NO883831D0 (no) | Bukseringskjoeretoey med vippebom. |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8320 | Willingness to grant licences declared (paragraph 23) | ||
8339 | Ceased/non-payment of the annual fee |