ES2132905T3 - Dispositivo y procedimiento de calibrado de un robot industrial de ejes multiples. - Google Patents
Dispositivo y procedimiento de calibrado de un robot industrial de ejes multiples.Info
- Publication number
- ES2132905T3 ES2132905T3 ES96909419T ES96909419T ES2132905T3 ES 2132905 T3 ES2132905 T3 ES 2132905T3 ES 96909419 T ES96909419 T ES 96909419T ES 96909419 T ES96909419 T ES 96909419T ES 2132905 T3 ES2132905 T3 ES 2132905T3
- Authority
- ES
- Spain
- Prior art keywords
- calibration
- sub
- procedure
- gravitator
- industrial robot
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
- B25J19/0041—Means for supplying energy to the end effector arranged within the different robot elements having rotary connection means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
EQUIPO PARA LA CALIBRACION DE UN MANIPULADOR INDUSTRIAL QUE TIENE UNA PLURALIDAD DE EJES DE ROTACION (A1-A6), QUE COMPRENDE UNA HERRAMIENTA DE CALIBRACION (41) SOSTENIDA POR EL MANIPULADOR, UN DISPOSITIVO MEDIDOR ADAPTADO PARA UNA UNION GIRATORIA CON UN PUNTO DE REFERENCIA (X{SUB,0}, Y{SUB,0}, Z{SUB,0}), CUYA POSICION ES CONOCIDA. EL DISPOSITIVO MEDIDOR COMPRENDE MEDIOS (55), ADAPTADOS PARA ESTAR EN CONTACTO CON LA HERRAMIENTA DE CALIBRACION DURANTE EL PROCESO DE CALIBRACION, Y UN SENSOR GRAVITATORIO (34), ADAPTADO PARA MEDIR EL ANGULO ENTRE EL VECTOR GRAVITATORIO Y UN EJE PREDETERMINADO DE REFERENCIA DEL DISPOSITIVO MEDIDOR. UN METODO PARA LA CALIBRACION DE DICHO MANIPULADOR INDUSTRIAL, EN DONDE SE DETERMINAN VARIOS PARAMETROS DE ERROR DEL MANIPULADOR, SOMETIENDOLE AL MENOS A DOS CONFIGURACIONES DIFERENTES EN LAS QUE, POR UNA PARTE, LA HERRAMIENTA DE CALIBRACION Y, POR LA OTRA, EL DISPOSITIVO MEDIDOR, ESTAN EN CONTACTO ENTRE SI. LA SEÑAL DE SALIDA DEL SENSOR GRAVITATORIO, SE LEE EN LAS DIFERENTES CONFIGURACIONES, Y LOS PARAMETROS DE ERROR SE CALCULAN EN BASE A LAS SEÑALES DE SALIDA LEIDAS.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9501124A SE508176C2 (sv) | 1995-03-29 | 1995-03-29 | Anordning och förfarande för kalibrering av en fleraxlig industrirobot |
Publications (1)
Publication Number | Publication Date |
---|---|
ES2132905T3 true ES2132905T3 (es) | 1999-08-16 |
Family
ID=20397724
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES96909419T Expired - Lifetime ES2132905T3 (es) | 1995-03-29 | 1996-03-21 | Dispositivo y procedimiento de calibrado de un robot industrial de ejes multiples. |
Country Status (7)
Country | Link |
---|---|
US (1) | US6205839B1 (es) |
EP (1) | EP0817705B1 (es) |
JP (1) | JPH11502471A (es) |
DE (1) | DE69601622T2 (es) |
ES (1) | ES2132905T3 (es) |
SE (1) | SE508176C2 (es) |
WO (1) | WO1996030170A1 (es) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107042527A (zh) * | 2017-05-20 | 2017-08-15 | 天津大学 | 一种基于三维力传感器的工业机器人标定装置及标定方法 |
Families Citing this family (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6587802B1 (en) | 1998-09-17 | 2003-07-01 | Dr. Johannes Heidenhain Gmbh | Calibration device for a parallel kinematic manipulator |
JP3761344B2 (ja) * | 1998-12-01 | 2006-03-29 | トヨタ自動車株式会社 | 溶接ガンとそれを用いたセンサー校正方法、溶接制御方法、溶接打点位置精度変化管理方法 |
SE9804450D0 (sv) * | 1998-12-17 | 1998-12-17 | Robotkonsult Ab | Metod och anordningar för automatisk in-line kalibrering av robot, verktyg och cell |
FR2793316B1 (fr) * | 1999-05-05 | 2001-07-06 | Const Mecaniques Des Vosges | Procede pour determiner la position relative des deux plateaux d'un hexapode |
DE29909047U1 (de) * | 1999-05-22 | 2000-10-19 | KUKA Schweissanlagen GmbH, 86165 Augsburg | Positioniervorrichtung für Werkstückträger oder Werkstücke |
DE10018214A1 (de) * | 2000-04-12 | 2001-10-25 | Dreier Technology Ag Chur | Verfahren und Vorrichtung zum Vermessen von Fertigungsmaschinen |
US6519860B1 (en) * | 2000-10-19 | 2003-02-18 | Sandia Corporation | Position feedback control system |
EP1336818A3 (de) * | 2001-04-12 | 2006-06-28 | Dreier Technology AG | Verfahren zum Vermessen einer Fertigungsmaschine |
US6418774B1 (en) * | 2001-04-17 | 2002-07-16 | Abb Ab | Device and a method for calibration of an industrial robot |
US7040033B2 (en) * | 2001-10-05 | 2006-05-09 | Trustees Of Stevens Institute Of Technology | Six degrees of freedom precision measuring system |
SE0103523D0 (sv) * | 2001-10-19 | 2001-10-19 | Abb Ab | Industrirobot |
US6640458B2 (en) * | 2002-03-25 | 2003-11-04 | Btm Corporation | End arm effector set-up |
US20050038563A1 (en) * | 2003-08-16 | 2005-02-17 | Abdul Rauf | Device and method for kinematic calibration of robots |
DE102004026185A1 (de) * | 2004-05-28 | 2005-12-22 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters |
SE0402750D0 (sv) * | 2004-11-10 | 2004-11-10 | Abb Ab | A calibration method |
JP4275632B2 (ja) * | 2005-03-01 | 2009-06-10 | 新日本工機株式会社 | パラレルメカニズム機構のキャリブレーション方法、キャリブレーションの検証方法、キャリブレーションの検証プログラム、データ採取方法及び空間位置補正における補正データ採取方法 |
JP4464318B2 (ja) * | 2005-05-16 | 2010-05-19 | オークマ株式会社 | パラレルメカニズム機械のキャリブレーション方法 |
JP5821210B2 (ja) * | 2011-02-22 | 2015-11-24 | セイコーエプソン株式会社 | 水平多関節ロボット及び水平多関節ロボットの制御方法 |
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 |
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 |
CN103659806B (zh) * | 2012-09-06 | 2016-05-25 | 沈阳新松机器人自动化股份有限公司 | 一种工业机器人零位标定方法 |
US9259844B2 (en) * | 2014-02-12 | 2016-02-16 | General Electric Company | Vision-guided electromagnetic robotic system |
EP3126936B1 (en) * | 2014-04-04 | 2019-09-04 | ABB Schweiz AG | Portable apparatus for controlling robot and method thereof |
FR3029617B1 (fr) * | 2014-12-05 | 2017-09-01 | Centre Nat Rech Scient | Procede et dispositif pour la mesure du suivi d’une trajectoire sous charge |
US10065319B2 (en) * | 2015-11-30 | 2018-09-04 | Delta Electronics, Inc. | Tool calibration apparatus of robot manipulator |
EP3484676B1 (en) | 2016-07-14 | 2020-08-12 | Siemens Healthcare Diagnostics Inc. | Methods and apparatus to calibrate a positional orientation between a robot gripper and a component |
WO2019006698A1 (zh) * | 2017-07-05 | 2019-01-10 | 深圳配天智能技术研究院有限公司 | 机器人的校准***和校准方法、机器人***、存储介质 |
JP6773084B2 (ja) * | 2018-07-02 | 2020-10-21 | 株式会社安川電機 | 動作教示装置、ロボットシステム及び動作教示方法 |
US11320406B2 (en) | 2020-03-31 | 2022-05-03 | Baker Hughes Oilfield Operations Llc | Methods and systems for adaptive accuracy control of ultrasonic non-destructive testing devices |
CN113492398B (zh) * | 2020-04-02 | 2022-12-20 | 北京配天技术有限公司 | 标定杆、重力加速度方向的标定***及其标定方法 |
US11446825B2 (en) * | 2020-04-15 | 2022-09-20 | Shanghai Flexiv Robotics Technology Co., Ltd. | Method for estimating a direction of gravity with respect to a robot |
IT202000009514A1 (it) * | 2020-04-30 | 2021-10-30 | Univ Degli Studi Padova | Dispositivi e metodo per la calibrazione di robot industriali |
US11554506B2 (en) * | 2021-03-31 | 2023-01-17 | National Chung Shan Institute Of Science And Technology | Device and method for measuring repeated positioning precision of robotic arm |
CN113510708B (zh) * | 2021-07-28 | 2021-12-28 | 南京航空航天大学 | 一种基于双目视觉的接触式工业机器人自动标定*** |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4435905A (en) | 1982-03-15 | 1984-03-13 | The United States Of America As Represented By The United States Department Of Energy | Telescoping magnetic ball bar test gage |
JPS63268568A (ja) * | 1987-04-24 | 1988-11-07 | Hitachi Ltd | 自動溶接装置 |
US4804897A (en) * | 1987-08-19 | 1989-02-14 | Hewlett-Packard Company | Orientation-dependant robot controller |
JPS6469911A (en) * | 1987-09-10 | 1989-03-15 | Sumitomo Metal Ind | Method for measuring dimension and shape by robot |
JPH03245978A (ja) * | 1990-02-20 | 1991-11-01 | Matsushita Electric Ind Co Ltd | ロボット |
JP2819353B2 (ja) * | 1990-09-28 | 1998-10-30 | 本田技研工業株式会社 | 脚式移動ロボットの歩行制御装置 |
US5239855A (en) * | 1991-07-12 | 1993-08-31 | Hewlett-Packard Company | Positional calibration of robotic arm joints relative to the gravity vector |
US5404086A (en) * | 1992-07-20 | 1995-04-04 | Honda Giken Kogyo Kabushiki Kaisha | System for controlling locomotion of legged mobile robot and correcting inclinometer's output thereof |
US5448146A (en) * | 1993-01-29 | 1995-09-05 | Board Of Regents, The University Of Texas System | Method for applying constant force with nonlinear feedback control and constant force device using same |
AT398246B (de) | 1993-06-11 | 1994-10-25 | Frank Adolf Dipl Ing Dr | Vorrichtung zur kontrolle der geometrischen und dynamischen genauigkeit eines nc-gesteuerten arbeitskopfes |
US5668453A (en) * | 1993-11-05 | 1997-09-16 | Nippon Telegraph And Telephone Corporation | Method of calculating points and normal lines of contact and apparatus therefor |
-
1995
- 1995-03-29 SE SE9501124A patent/SE508176C2/sv not_active IP Right Cessation
-
1996
- 1996-03-21 DE DE69601622T patent/DE69601622T2/de not_active Expired - Fee Related
- 1996-03-21 JP JP8529251A patent/JPH11502471A/ja not_active Ceased
- 1996-03-21 US US08/913,887 patent/US6205839B1/en not_active Expired - Fee Related
- 1996-03-21 EP EP96909419A patent/EP0817705B1/en not_active Expired - Lifetime
- 1996-03-21 WO PCT/SE1996/000353 patent/WO1996030170A1/en active IP Right Grant
- 1996-03-21 ES ES96909419T patent/ES2132905T3/es not_active Expired - Lifetime
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107042527A (zh) * | 2017-05-20 | 2017-08-15 | 天津大学 | 一种基于三维力传感器的工业机器人标定装置及标定方法 |
CN107042527B (zh) * | 2017-05-20 | 2023-04-28 | 天津大学 | 一种基于三维力传感器的工业机器人标定装置及标定方法 |
Also Published As
Publication number | Publication date |
---|---|
SE9501124D0 (sv) | 1995-03-29 |
DE69601622T2 (de) | 1999-11-11 |
US6205839B1 (en) | 2001-03-27 |
EP0817705A1 (en) | 1998-01-14 |
SE508176C2 (sv) | 1998-09-07 |
EP0817705B1 (en) | 1999-03-03 |
JPH11502471A (ja) | 1999-03-02 |
WO1996030170A1 (en) | 1996-10-03 |
SE9501124L (sv) | 1996-09-30 |
DE69601622D1 (de) | 1999-04-08 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
FG2A | Definitive protection |
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