KR102209497B1 - 산업용 로봇의 보정값 산출 방법 - Google Patents
산업용 로봇의 보정값 산출 방법 Download PDFInfo
- Publication number
- KR102209497B1 KR102209497B1 KR1020190015399A KR20190015399A KR102209497B1 KR 102209497 B1 KR102209497 B1 KR 102209497B1 KR 1020190015399 A KR1020190015399 A KR 1020190015399A KR 20190015399 A KR20190015399 A KR 20190015399A KR 102209497 B1 KR102209497 B1 KR 102209497B1
- Authority
- KR
- South Korea
- Prior art keywords
- arm
- hand
- correction value
- chamber
- reference position
- Prior art date
Links
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/063—Transporting devices for sheet glass
- B65G49/064—Transporting devices for sheet glass in a horizontal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018026281A JP7129788B2 (ja) | 2018-02-16 | 2018-02-16 | 産業用ロボットの補正値算出方法 |
JPJP-P-2018-026281 | 2018-02-16 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20190099127A KR20190099127A (ko) | 2019-08-26 |
KR102209497B1 true KR102209497B1 (ko) | 2021-02-01 |
Family
ID=67645373
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020190015399A KR102209497B1 (ko) | 2018-02-16 | 2019-02-11 | 산업용 로봇의 보정값 산출 방법 |
Country Status (3)
Country | Link |
---|---|
JP (1) | JP7129788B2 (zh) |
KR (1) | KR102209497B1 (zh) |
CN (1) | CN110153995B (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7395967B2 (ja) * | 2019-11-05 | 2023-12-12 | オムロン株式会社 | 自走式搬送装置 |
CN114029961B (zh) * | 2021-12-16 | 2022-05-24 | 滁州学院 | 一种机械臂高精度传动的机器人控制方法及*** |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014233773A (ja) * | 2013-05-31 | 2014-12-15 | シンフォニアテクノロジー株式会社 | 多関節ロボット |
JP2015032617A (ja) * | 2013-07-31 | 2015-02-16 | 株式会社ダイヘン | 搬送ロボットの教示データ補正方法、および搬送システム |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8260461B2 (en) * | 2007-08-30 | 2012-09-04 | Applied Materials, Inc. | Method and system for robot calibrations with a camera |
JP5571902B2 (ja) | 2009-03-17 | 2014-08-13 | 川崎重工業株式会社 | ロボット、及びオートゼロイング方法 |
US8459922B2 (en) * | 2009-11-13 | 2013-06-11 | Brooks Automation, Inc. | Manipulator auto-teach and position correction system |
JP5848173B2 (ja) * | 2012-03-16 | 2016-01-27 | 日本発條株式会社 | ハンガ・ラインのワーク引掛け制御装置及び方法 |
JP6111065B2 (ja) | 2012-12-28 | 2017-04-05 | 川崎重工業株式会社 | 自動教示システム及び教示方法 |
JP6499826B2 (ja) | 2014-01-29 | 2019-04-10 | 日本電産サンキョー株式会社 | 産業用ロボット |
JP2015178161A (ja) * | 2014-03-19 | 2015-10-08 | 株式会社安川電機 | 搬送ロボットおよび搬送システム |
-
2018
- 2018-02-16 JP JP2018026281A patent/JP7129788B2/ja active Active
-
2019
- 2019-02-11 KR KR1020190015399A patent/KR102209497B1/ko active IP Right Grant
- 2019-02-15 CN CN201910116333.3A patent/CN110153995B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014233773A (ja) * | 2013-05-31 | 2014-12-15 | シンフォニアテクノロジー株式会社 | 多関節ロボット |
JP2015032617A (ja) * | 2013-07-31 | 2015-02-16 | 株式会社ダイヘン | 搬送ロボットの教示データ補正方法、および搬送システム |
Also Published As
Publication number | Publication date |
---|---|
JP2019145585A (ja) | 2019-08-29 |
KR20190099127A (ko) | 2019-08-26 |
CN110153995A (zh) | 2019-08-23 |
CN110153995B (zh) | 2022-09-27 |
JP7129788B2 (ja) | 2022-09-02 |
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