ES2119946T3 - Metodo y dispositivo para el calibrado de movimiento de ejes de un robot industrial. - Google Patents
Metodo y dispositivo para el calibrado de movimiento de ejes de un robot industrial.Info
- Publication number
- ES2119946T3 ES2119946T3 ES94117825T ES94117825T ES2119946T3 ES 2119946 T3 ES2119946 T3 ES 2119946T3 ES 94117825 T ES94117825 T ES 94117825T ES 94117825 T ES94117825 T ES 94117825T ES 2119946 T3 ES2119946 T3 ES 2119946T3
- Authority
- ES
- Spain
- Prior art keywords
- robot
- calibration
- industrial robot
- calibrating
- axis movement
- 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 - Lifetime
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
-
- 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
- G05B2219/39015—With different manipulator configurations, contact known sphere, ballbar
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Details Of Measuring And Other Instruments (AREA)
Abstract
EN UN METODO DE CALIBRACION PARA UN ROBOT INDUSTRIAL (2-6), UNA HERRAMIENTA DE CALIBRACION (8) SOPORTADA POR LA MANO DEL ROBOT (6) SE PONE EN CONTACTO CON UN CUERPO DE CALIBRACION ESFERICO (7) CON UN RADIO CONOCIDO. POSTERIORMENTE, LAS SEÑALES DE SALIDA DE LOS TRANSDUCTORES DE POSICIONAMIENTO DE LOS EJES DEL ROBOT SON LEIDAS Y ALMACENADAS. ESTE METODO SE REPITE UNA PLURALIDAD DE VECES CON DIFERENTES CONFIGURACIONES DEL ROBOT. POSTERIORMENTE, LOS PARAMETROS DE CALIBRACION DEL ROBOT SE CALCULAN COMENZANDO A PARTIR DE LAS ECUACIONES CINEMATICAS DEL ROBOT, DE UN MODELO DE RELACIONES ENTRE LA POSICION AXIAL Y LA SEÑAL DEL TRANSDUCTOR DE POSICION, DEL RADIO CONOCIDO DEL CUERPO DE CALIBRACION Y DE LAS SEÑALES TRANSDUCTORES DE POSICION LEIDAS Y ALMACENADAS.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9303757A SE501867C2 (sv) | 1993-11-15 | 1993-11-15 | Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp |
Publications (1)
Publication Number | Publication Date |
---|---|
ES2119946T3 true ES2119946T3 (es) | 1998-10-16 |
Family
ID=20391744
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES94117825T Expired - Lifetime ES2119946T3 (es) | 1993-11-15 | 1994-11-11 | Metodo y dispositivo para el calibrado de movimiento de ejes de un robot industrial. |
Country Status (6)
Country | Link |
---|---|
US (1) | US5687293A (es) |
EP (1) | EP0655301B1 (es) |
JP (1) | JPH07186073A (es) |
DE (1) | DE69411130T2 (es) |
ES (1) | ES2119946T3 (es) |
SE (1) | SE501867C2 (es) |
Families Citing this family (52)
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US5724264A (en) * | 1993-07-16 | 1998-03-03 | Immersion Human Interface Corp. | Method and apparatus for tracking the position and orientation of a stylus and for digitizing a 3-D object |
SE508161C2 (sv) * | 1995-03-30 | 1998-09-07 | Asea Brown Boveri | Förfarande och anordning för kalibrering av rörelseaxlar hos en industrirobot |
GB9517214D0 (en) * | 1995-08-23 | 1995-10-25 | Renishaw Plc | Calibration of an articulating probe head for a coordinating positioning machine |
US6024576A (en) * | 1996-09-06 | 2000-02-15 | Immersion Corporation | Hemispherical, high bandwidth mechanical interface for computer systems |
WO1999006897A1 (en) * | 1997-08-01 | 1999-02-11 | Dynalog, Inc. | Calibration system and displacement measurement device |
US6408252B1 (en) * | 1997-08-01 | 2002-06-18 | Dynalog, Inc. | Calibration system and displacement measurement device |
US6104382A (en) | 1997-10-31 | 2000-08-15 | Immersion Corporation | Force feedback transmission mechanisms |
US6202031B1 (en) * | 1998-04-08 | 2001-03-13 | Mcms, Inc. | Method of calibrating an automated placement machine |
US6067077A (en) | 1998-04-10 | 2000-05-23 | Immersion Corporation | Position sensing for force feedback devices |
US6580964B2 (en) * | 1998-10-24 | 2003-06-17 | Renishaw Plc | Calibrations of an analogue probe and error mapping |
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 |
US6199024B1 (en) * | 1999-09-07 | 2001-03-06 | Nextel Ltd. | Calibration process for shape measurement |
US7159008B1 (en) | 2000-06-30 | 2007-01-02 | Immersion Corporation | Chat interface with haptic feedback functionality |
GB0019200D0 (en) * | 2000-08-05 | 2000-09-27 | Renishaw Plc | Bearing arrangement |
US6519860B1 (en) * | 2000-10-19 | 2003-02-18 | Sandia Corporation | Position feedback control system |
JP2003133200A (ja) * | 2001-10-19 | 2003-05-09 | Canon Inc | シミュレーション装置及びシミュレーション方法 |
GB0126232D0 (en) * | 2001-11-01 | 2002-01-02 | Renishaw Plc | Calibration of an analogue probe |
US6812665B2 (en) * | 2002-04-19 | 2004-11-02 | Abb Ab | In-process relative robot workcell calibration |
KR100485348B1 (ko) * | 2002-07-09 | 2005-04-27 | 삼성전자주식회사 | 로봇의 캘리브레이션 방법 |
CA2522097C (en) * | 2003-04-28 | 2012-09-25 | Stephen James Crampton | Cmm arm with exoskeleton |
JP2005157784A (ja) * | 2003-11-26 | 2005-06-16 | Tokyo Denki Univ | 小型アーティファクトを用いた運動機構の校正方法 |
FR2864225B1 (fr) | 2003-12-22 | 2006-07-21 | Commissariat Energie Atomique | Procede de mesure du mouvement d'un solide, utilisant une mesure absolue associee a une mesure par double integration |
SE0400320D0 (sv) * | 2004-02-06 | 2004-02-06 | Abb Ab | Control method for robots |
ATE401170T1 (de) * | 2004-10-25 | 2008-08-15 | Univ Dayton | Verfahren und system zum ermöglichen von erhöhter genauigkeit bei mehrfachverbundenen robotern durch berechnung der kinematischen robotermodellparameter |
JPWO2007034561A1 (ja) * | 2005-09-26 | 2009-03-19 | 利晃 島田 | 産業用ロボット |
US8315652B2 (en) | 2007-05-18 | 2012-11-20 | Immersion Corporation | Haptically enabled messaging |
US7712224B2 (en) * | 2007-10-03 | 2010-05-11 | Hexagon Metrology Ab | Validating the error map of CMM using calibrated probe |
EP2103931A3 (de) * | 2008-03-20 | 2011-09-28 | Siemens Aktiengesellschaft | Kalibrierung für ein System zur zerstörungsfreien Werkstoffprüfung |
EP2268459B9 (en) * | 2008-04-30 | 2012-03-21 | ABB Technology AB | A method and a system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot |
EP2547490B1 (en) * | 2010-03-18 | 2014-01-08 | ABB Research Ltd. | Calibration of a base coordinate system for an industrial robot |
JP5321532B2 (ja) * | 2010-04-28 | 2013-10-23 | 株式会社安川電機 | ロボットキャリブレーション装置及びキャリブレーション方法 |
JP5672173B2 (ja) * | 2011-06-28 | 2015-02-18 | 株式会社デンソーウェーブ | 6軸ロボットの軸間オフセット検出方法 |
JP5786550B2 (ja) * | 2011-08-18 | 2015-09-30 | 株式会社デンソーウェーブ | 6軸ロボットの軸間オフセット検出方法 |
CN104010774B (zh) * | 2011-09-15 | 2017-10-13 | 康富真信息技术股份有限公司 | 用于自动生成机器人程序的***和方法 |
GB201311600D0 (en) * | 2013-06-28 | 2013-08-14 | Renishaw Plc | Calibration of a contact probe |
DE102014100538B4 (de) * | 2014-01-17 | 2022-09-08 | Pi4_Robotics Gmbh | Verfahren zum Kalibrieren eines Roboters und einer Kamera und System zum Durchführen des Verfahrens |
CN103878791B (zh) * | 2014-04-12 | 2016-03-09 | 福州大学 | 工业机器人无外部传感器的外力检测方法 |
TW201600275A (zh) * | 2014-06-26 | 2016-01-01 | Hiwin Tech Corp | 機械手臂系統及其平行度校正方法 |
CN104608129B (zh) * | 2014-11-28 | 2016-06-08 | 江南大学 | 基于平面约束的机器人标定方法 |
DE102015200319A1 (de) * | 2015-01-13 | 2016-07-14 | Kuka Systems Gmbh | Einmessverfahren aus Kombination von Vorpositionierung und Handführen |
EP3051253B1 (en) * | 2015-02-02 | 2018-08-22 | Rolls-Royce North American Technologies, Inc. | Multi-axis calibration block |
US9718192B2 (en) * | 2015-06-24 | 2017-08-01 | National Taipei University Of Technology | System for automatically and precisely positioning robotic arm and method thereof |
CN105066808B (zh) * | 2015-07-14 | 2017-10-31 | 安徽工业大学 | 一种工业机器人运动学参数简易标定装置及其标定方法 |
CN106483963B (zh) * | 2015-08-26 | 2020-02-11 | 泰科电子(上海)有限公司 | 机器人***的自动标定方法 |
CN106112505B (zh) * | 2016-07-04 | 2018-07-24 | 清华大学 | 双轴孔装配***及其控制方法 |
WO2018064709A1 (en) * | 2016-10-05 | 2018-04-12 | Robert Darby | Drive unit for robotic manipulators |
DE102017003993B4 (de) * | 2017-04-25 | 2020-12-10 | Kuka Deutschland Gmbh | Kalibrierung eines Roboters |
EP3421167A1 (de) | 2017-06-26 | 2019-01-02 | Fronius International GmbH | Verfahren und vorrichtung zur abtastung einer werkstückoberfläche eines metallischen werkstückes |
US10837944B2 (en) * | 2018-02-06 | 2020-11-17 | Harman International Industries, Incorporated | Resonator device for resonance mapping and sound production |
CN109443200B (zh) * | 2018-10-18 | 2020-12-01 | 广东电科院能源技术有限责任公司 | 一种全局视觉坐标系和机械臂坐标系的映射方法及装置 |
JP2020199958A (ja) * | 2019-06-12 | 2020-12-17 | パシフィックソフトウエア開発株式会社 | 昇降支持装置 |
CN117047789B (zh) * | 2023-10-13 | 2024-01-23 | 北京壹点灵动科技有限公司 | 机器人参数的标定方法、装置、电子设备及存储介质 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3909600A (en) * | 1972-06-26 | 1975-09-30 | Cincinnati Milacron Inc | Method and apparatus for controlling an automation along a predetermined path |
US3920972A (en) * | 1974-07-16 | 1975-11-18 | Cincinnati Milacron Inc | Method and apparatus for programming a computer operated robot arm |
US4362977A (en) * | 1980-06-30 | 1982-12-07 | International Business Machines Corporation | Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot |
JPH0789286B2 (ja) * | 1986-02-28 | 1995-09-27 | 株式会社日立製作所 | 多関節マニピユレ−タの作業原点決定方法 |
SE462022B (sv) * | 1986-09-29 | 1990-04-30 | Asea Ab | Industrirobotutrustning med organ foer styrning av ett verktyg laengs en bana utmed ett arbetsobjekt |
GB8624191D0 (en) * | 1986-10-08 | 1986-11-12 | Renishaw Plc | Datuming of analogue measurement probes |
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 |
US4841762A (en) * | 1987-10-27 | 1989-06-27 | Automatix Incorporated | Symmetry calibration method for multi-configuration robots |
US4892457A (en) * | 1988-07-11 | 1990-01-09 | Gmf Robotics Corporation | Apparatus for mastering a robot |
US5056031A (en) * | 1988-11-12 | 1991-10-08 | Kabushiki Kaisha Toyota Chuo Kenyusho | Apparatus for detecting the collision of moving objects |
US5177563A (en) * | 1989-02-01 | 1993-01-05 | Texas A&M University System | Method and apparatus for locating physical objects |
JPH05261682A (ja) * | 1991-04-09 | 1993-10-12 | Yaskawa Electric Corp | 産業用ロボットのキャリブレーション方式 |
US5239855A (en) * | 1991-07-12 | 1993-08-31 | Hewlett-Packard Company | Positional calibration of robotic arm joints relative to the gravity vector |
SE501263C2 (sv) * | 1991-12-10 | 1994-12-19 | Asea Brown Boveri | Förfarande för kalibrering av rörelseaxlar hos en industrirobot |
-
1993
- 1993-11-15 SE SE9303757A patent/SE501867C2/sv not_active IP Right Cessation
-
1994
- 1994-10-25 US US08/328,447 patent/US5687293A/en not_active Expired - Lifetime
- 1994-11-11 EP EP94117825A patent/EP0655301B1/en not_active Expired - Lifetime
- 1994-11-11 ES ES94117825T patent/ES2119946T3/es not_active Expired - Lifetime
- 1994-11-11 DE DE69411130T patent/DE69411130T2/de not_active Expired - Lifetime
- 1994-11-14 JP JP6279380A patent/JPH07186073A/ja active Pending
Also Published As
Publication number | Publication date |
---|---|
SE9303757D0 (sv) | 1993-11-15 |
DE69411130D1 (de) | 1998-07-23 |
US5687293A (en) | 1997-11-11 |
JPH07186073A (ja) | 1995-07-25 |
SE9303757L (sv) | 1995-05-16 |
DE69411130T2 (de) | 1999-02-11 |
SE501867C2 (sv) | 1995-06-12 |
EP0655301B1 (en) | 1998-06-17 |
EP0655301A1 (en) | 1995-05-31 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
FG2A | Definitive protection |
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