JP2008296369A - ロボットにおいて結合の角度を決定する角度位置測定装置 - Google Patents
ロボットにおいて結合の角度を決定する角度位置測定装置 Download PDFInfo
- Publication number
- JP2008296369A JP2008296369A JP2008236704A JP2008236704A JP2008296369A JP 2008296369 A JP2008296369 A JP 2008296369A JP 2008236704 A JP2008236704 A JP 2008236704A JP 2008236704 A JP2008236704 A JP 2008236704A JP 2008296369 A JP2008296369 A JP 2008296369A
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- JP
- Japan
- Prior art keywords
- electrode
- electrodes
- robot arm
- receiver
- 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.)
- Pending
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
- G01D5/241—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes
- G01D5/2412—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes by varying overlap
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Manipulator (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Control Of Position Or Direction (AREA)
- Numerical Control (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
【解決手段】本発明は工業用ロボットのロボットアームの回転結合部(1a,1b)により互いに結合された1つ又は数個の結合アーム(1、1c)と、基板(3)に結合された結合アーム(1)を含み、前記結合アーム(1、1c)間、又は前記結合アーム(1)と前記基板(3)の間の角度関係を正確に測定し、前記ロボットアームを好ましい角度位置に調整することを可能にするための角度変換器が前記回転結合部(1a,1b)に組み込まれている。
【選択図】図1
Description
Claims (1)
- 互いに回転結合(1a,1b)により結合された1つ又は数個の結合アーム(1、1c)と基板(3)に結合された結合アーム(1)を含む工業用ロボットのロボットアームにおいて、前記結合アーム(1、1c)間、又は前記結合アーム(1)と前記基板(3)の間の角度関係を正確に測定し、また前記ロボットアームを好ましい角度位置に調整することを可能にするため、角度変換器(4〜7)が前記回転結合(1a,1b)に設けられている、ことを特徴とする前記ロボットアーム。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0003111A SE518982C2 (sv) | 2000-09-04 | 2000-09-04 | Reglering av ett vinkelläge till en robotarm |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2002524881A Division JP4638124B2 (ja) | 2000-09-04 | 2001-08-20 | ロボットにおいて結合の角度を決定する角度位置測定装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2008296369A true JP2008296369A (ja) | 2008-12-11 |
Family
ID=20280878
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2002524881A Expired - Fee Related JP4638124B2 (ja) | 2000-09-04 | 2001-08-20 | ロボットにおいて結合の角度を決定する角度位置測定装置 |
JP2008236704A Pending JP2008296369A (ja) | 2000-09-04 | 2008-09-16 | ロボットにおいて結合の角度を決定する角度位置測定装置 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2002524881A Expired - Fee Related JP4638124B2 (ja) | 2000-09-04 | 2001-08-20 | ロボットにおいて結合の角度を決定する角度位置測定装置 |
Country Status (8)
Country | Link |
---|---|
US (1) | US6943565B2 (ja) |
EP (1) | EP1322451B1 (ja) |
JP (2) | JP4638124B2 (ja) |
AT (1) | ATE394207T1 (ja) |
AU (1) | AU2001282767A1 (ja) |
DE (1) | DE60133909D1 (ja) |
SE (1) | SE518982C2 (ja) |
WO (1) | WO2002020227A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022091179A1 (ja) * | 2020-10-26 | 2022-05-05 | 株式会社Fuji | アームロボット |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE516952C2 (sv) * | 2000-09-04 | 2002-03-26 | Johansson Ab C E | Vinkelgivare |
DE102004028558A1 (de) * | 2004-06-15 | 2006-01-05 | Abb Patent Gmbh | Verfahren und Messanordnung zur Spielmessung an einem Achsgelenk |
SE527992C2 (sv) * | 2004-12-09 | 2006-08-01 | Exechon Ab | Parallellkinematisk maskin med aktivt mätsystem |
EP2068124A1 (en) * | 2007-12-04 | 2009-06-10 | Metris IPR N.V. | Articulated arm measuring machine endowed with multiple measurement disks |
SE533198C2 (sv) * | 2008-02-14 | 2010-07-20 | Hexagon Metrology Ab | Mätanordning med mäthuvud för kontrollmätning av föremål |
WO2017138034A1 (ja) * | 2016-02-08 | 2017-08-17 | 東芝三菱電機産業システム株式会社 | 3次元表面電位分布計測システム |
CN110394798A (zh) * | 2019-06-26 | 2019-11-01 | 深圳市智能机器人研究院 | 一种基于角度传感器的机器人运动控制***及方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59180462A (ja) * | 1983-03-31 | 1984-10-13 | Mitsutoyo Mfg Co Ltd | 静電容量型エンコ−ダ |
JPS60119401A (ja) * | 1983-11-11 | 1985-06-26 | マウザー‐ベルケ、オベルンドルフ、ゲゼルシヤフト、ミツト、ベシユレンクテル、ハフツング | コンデンサ型長さ・角度測定装置 |
JPS6288916A (ja) * | 1985-10-15 | 1987-04-23 | Koko Res Kk | 運動センサ |
JPS6350717A (ja) * | 1986-08-20 | 1988-03-03 | Mitsubishi Chem Ind Ltd | 移動量計測装置 |
JPH0339616A (ja) * | 1989-07-06 | 1991-02-20 | Mitsutoyo Corp | 静電容量型変位検出器 |
JPH1142577A (ja) * | 1997-07-28 | 1999-02-16 | Matsushita Electric Ind Co Ltd | ロボットの制御方法および装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4612503A (en) * | 1980-10-21 | 1986-09-16 | Kabushiki Kaisha S G | Rotation speed detection device having a rotation angle detector of inductive type |
GB2118720A (en) * | 1982-02-08 | 1983-11-02 | Roger Charles Hey Sidey | Capacitive position transducers |
US4839646A (en) | 1986-02-28 | 1989-06-13 | Royal Melbourne Institute Of Technology Limited | Movement parameter sensor |
FR2601129B1 (fr) * | 1986-07-02 | 1994-06-03 | Commissariat Energie Atomique | Capteur de position angulaire et ensemble de determination de position angulaire muni de plusieurs de ces capteurs |
US5763976A (en) * | 1993-12-15 | 1998-06-09 | Parker-Hannifin Corp. | Stator wound resolver with staggered rotor |
SE516952C2 (sv) * | 2000-09-04 | 2002-03-26 | Johansson Ab C E | Vinkelgivare |
US6717312B1 (en) * | 2001-01-03 | 2004-04-06 | Dana Corporation | Defense vehicle aiming ordinance platform having variable reluctance motor |
-
2000
- 2000-09-04 SE SE0003111A patent/SE518982C2/sv not_active IP Right Cessation
-
2001
- 2001-08-20 DE DE60133909T patent/DE60133909D1/de not_active Expired - Lifetime
- 2001-08-20 AU AU2001282767A patent/AU2001282767A1/en not_active Abandoned
- 2001-08-20 EP EP01961506A patent/EP1322451B1/en not_active Expired - Lifetime
- 2001-08-20 WO PCT/SE2001/001774 patent/WO2002020227A1/en active Application Filing
- 2001-08-20 JP JP2002524881A patent/JP4638124B2/ja not_active Expired - Fee Related
- 2001-08-20 US US10/363,403 patent/US6943565B2/en not_active Expired - Lifetime
- 2001-08-20 AT AT01961506T patent/ATE394207T1/de not_active IP Right Cessation
-
2008
- 2008-09-16 JP JP2008236704A patent/JP2008296369A/ja active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59180462A (ja) * | 1983-03-31 | 1984-10-13 | Mitsutoyo Mfg Co Ltd | 静電容量型エンコ−ダ |
JPS60119401A (ja) * | 1983-11-11 | 1985-06-26 | マウザー‐ベルケ、オベルンドルフ、ゲゼルシヤフト、ミツト、ベシユレンクテル、ハフツング | コンデンサ型長さ・角度測定装置 |
JPS6288916A (ja) * | 1985-10-15 | 1987-04-23 | Koko Res Kk | 運動センサ |
JPS6350717A (ja) * | 1986-08-20 | 1988-03-03 | Mitsubishi Chem Ind Ltd | 移動量計測装置 |
JPH0339616A (ja) * | 1989-07-06 | 1991-02-20 | Mitsutoyo Corp | 静電容量型変位検出器 |
JPH1142577A (ja) * | 1997-07-28 | 1999-02-16 | Matsushita Electric Ind Co Ltd | ロボットの制御方法および装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022091179A1 (ja) * | 2020-10-26 | 2022-05-05 | 株式会社Fuji | アームロボット |
Also Published As
Publication number | Publication date |
---|---|
SE0003111D0 (sv) | 2000-09-04 |
WO2002020227A1 (en) | 2002-03-14 |
JP4638124B2 (ja) | 2011-02-23 |
DE60133909D1 (de) | 2008-06-19 |
EP1322451A1 (en) | 2003-07-02 |
US20040027139A1 (en) | 2004-02-12 |
AU2001282767A1 (en) | 2002-03-22 |
JP2004508214A (ja) | 2004-03-18 |
SE518982C2 (sv) | 2002-12-17 |
ATE394207T1 (de) | 2008-05-15 |
SE0003111L (sv) | 2002-03-05 |
US6943565B2 (en) | 2005-09-13 |
EP1322451B1 (en) | 2008-05-07 |
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