SE501867C2 - Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp - Google Patents
Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskroppInfo
- Publication number
- SE501867C2 SE501867C2 SE9303757A SE9303757A SE501867C2 SE 501867 C2 SE501867 C2 SE 501867C2 SE 9303757 A SE9303757 A SE 9303757A SE 9303757 A SE9303757 A SE 9303757A SE 501867 C2 SE501867 C2 SE 501867C2
- Authority
- SE
- Sweden
- Prior art keywords
- calibration
- robot
- tool
- calibration body
- position sensor
- Prior art date
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)
Priority Applications (6)
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 |
US08/328,447 US5687293A (en) | 1993-11-15 | 1994-10-25 | Method and device for calibration of movement axes of an industrial robot |
DE69411130T DE69411130T2 (de) | 1993-11-15 | 1994-11-11 | Verfahren und Vorrichtung zum Eichen der Bewegungsachsen eines Industrierobotors |
ES94117825T ES2119946T3 (es) | 1993-11-15 | 1994-11-11 | Metodo y dispositivo para el calibrado de movimiento de ejes de un robot industrial. |
EP94117825A EP0655301B1 (de) | 1993-11-15 | 1994-11-11 | Verfahren und Vorrichtung zum Eichen der Bewegungsachsen eines Industrierobotors |
JP6279380A JPH07186073A (ja) | 1993-11-15 | 1994-11-14 | 工業用ロボットの較正方法および工業用ロボット装置 |
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 (3)
Publication Number | Publication Date |
---|---|
SE9303757D0 SE9303757D0 (sv) | 1993-11-15 |
SE9303757L SE9303757L (sv) | 1995-05-16 |
SE501867C2 true SE501867C2 (sv) | 1995-06-12 |
Family
ID=20391744
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE9303757A SE501867C2 (sv) | 1993-11-15 | 1993-11-15 | Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp |
Country Status (6)
Country | Link |
---|---|
US (1) | US5687293A (de) |
EP (1) | EP0655301B1 (de) |
JP (1) | JPH07186073A (de) |
DE (1) | DE69411130T2 (de) |
ES (1) | ES2119946T3 (de) |
SE (1) | SE501867C2 (de) |
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 (de) * | 2008-04-30 | 2012-03-21 | ABB Technology AB | Verfahren und system zur bestimmung der beziehung zwischen einem roboterkoordinatensystem und einem lokalen koordinatensystem, das im arbeitsbereich des roboters positioniert ist |
EP2547490B1 (de) * | 2010-03-18 | 2014-01-08 | ABB Research Ltd. | Kalibrierung eines basiskoordinatensystems für einen industrieroboter |
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 (de) * | 2015-02-02 | 2018-08-22 | Rolls-Royce North American Technologies, Inc. | Mehrachsiger kalibrierungskörper |
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 |
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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/de 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 |
ES2119946T3 (es) | 1998-10-16 |
SE9303757L (sv) | 1995-05-16 |
DE69411130T2 (de) | 1999-02-11 |
EP0655301B1 (de) | 1998-06-17 |
EP0655301A1 (de) | 1995-05-31 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
NUG | Patent has lapsed |