SE508176C2 - Anordning och förfarande för kalibrering av en fleraxlig industrirobot - Google Patents
Anordning och förfarande för kalibrering av en fleraxlig industrirobotInfo
- Publication number
- SE508176C2 SE508176C2 SE9501124A SE9501124A SE508176C2 SE 508176 C2 SE508176 C2 SE 508176C2 SE 9501124 A SE9501124 A SE 9501124A SE 9501124 A SE9501124 A SE 9501124A SE 508176 C2 SE508176 C2 SE 508176C2
- Authority
- SE
- Sweden
- Prior art keywords
- axis
- robot
- measuring device
- rotation
- measuring
- 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
-
- 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)
Priority Applications (7)
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 |
PCT/SE1996/000353 WO1996030170A1 (en) | 1995-03-29 | 1996-03-21 | Device and method for calibration of a multi-axis industrial robot |
US08/913,887 US6205839B1 (en) | 1995-03-29 | 1996-03-21 | Device and method for calibration of a multi-axis industrial robot |
DE69601622T DE69601622T2 (de) | 1995-03-29 | 1996-03-21 | Vorrichtung und verfahren zum eichen eines mehrgelenkroboters |
EP96909419A EP0817705B1 (de) | 1995-03-29 | 1996-03-21 | Vorrichtung und verfahren zum eichen eines mehrgelenkroboters |
JP8529251A JPH11502471A (ja) | 1995-03-29 | 1996-03-21 | 多軸工業ロボットの較正の装置と方法 |
ES96909419T ES2132905T3 (es) | 1995-03-29 | 1996-03-21 | Dispositivo y procedimiento de calibrado de un robot industrial de ejes multiples. |
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 (3)
Publication Number | Publication Date |
---|---|
SE9501124D0 SE9501124D0 (sv) | 1995-03-29 |
SE9501124L SE9501124L (sv) | 1996-09-30 |
SE508176C2 true SE508176C2 (sv) | 1998-09-07 |
Family
ID=20397724
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE9501124A SE508176C2 (sv) | 1995-03-29 | 1995-03-29 | Anordning och förfarande för kalibrering av en fleraxlig industrirobot |
Country Status (7)
Country | Link |
---|---|
US (1) | US6205839B1 (de) |
EP (1) | EP0817705B1 (de) |
JP (1) | JPH11502471A (de) |
DE (1) | DE69601622T2 (de) |
ES (1) | ES2132905T3 (de) |
SE (1) | SE508176C2 (de) |
WO (1) | WO1996030170A1 (de) |
Families Citing this family (35)
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 (de) * | 2014-04-04 | 2019-09-04 | ABB Schweiz AG | Tragbare vorrichtung zur steuerung eines roboters und verfahren dafür |
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 (de) | 2016-07-14 | 2020-08-12 | Siemens Healthcare Diagnostics Inc. | Verfahren und vorrichtung zum kalibrieren einer positionsausrichtung zwischen einem robotergreifer und einer komponente |
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 |
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/de 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
Also Published As
Publication number | Publication date |
---|---|
SE9501124D0 (sv) | 1995-03-29 |
DE69601622T2 (de) | 1999-11-11 |
US6205839B1 (en) | 2001-03-27 |
EP0817705A1 (de) | 1998-01-14 |
ES2132905T3 (es) | 1999-08-16 |
EP0817705B1 (de) | 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 |
---|---|---|---|
NUG | Patent has lapsed |