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
Application number
ES94117825T
Other languages
English (en)
Inventor
John-Erik Snell
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AB
Original Assignee
Asea Brown Boveri AB
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Asea Brown Boveri AB filed Critical Asea Brown Boveri AB
Application granted granted Critical
Publication of ES2119946T3 publication Critical patent/ES2119946T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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.
ES94117825T 1993-11-15 1994-11-11 Metodo y dispositivo para el calibrado de movimiento de ejes de un robot industrial. Expired - Lifetime ES2119946T3 (es)

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)

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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
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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
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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
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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
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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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