SE9303757L - 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 kalibreringskropp

Info

Publication number
SE9303757L
SE9303757L SE9303757A SE9303757A SE9303757L SE 9303757 L SE9303757 L SE 9303757L SE 9303757 A SE9303757 A SE 9303757A SE 9303757 A SE9303757 A SE 9303757A SE 9303757 L SE9303757 L SE 9303757L
Authority
SE
Sweden
Prior art keywords
robot
calibration
calibration body
industrial robot
calibrating
Prior art date
Application number
SE9303757A
Other languages
English (en)
Other versions
SE9303757D0 (sv
SE501867C2 (sv
Inventor
John-Erik Snell
Original Assignee
Asea Brown Boveri
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Asea Brown Boveri filed Critical Asea Brown Boveri
Priority to SE9303757A priority Critical patent/SE501867C2/sv
Publication of SE9303757D0 publication Critical patent/SE9303757D0/sv
Priority to US08/328,447 priority patent/US5687293A/en
Priority to DE69411130T priority patent/DE69411130T2/de
Priority to ES94117825T priority patent/ES2119946T3/es
Priority to EP94117825A priority patent/EP0655301B1/en
Priority to JP6279380A priority patent/JPH07186073A/ja
Publication of SE9303757L publication Critical patent/SE9303757L/sv
Publication of SE501867C2 publication Critical patent/SE501867C2/sv

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)
SE9303757A 1993-11-15 1993-11-15 Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp SE501867C2 (sv)

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 (en) 1993-11-15 1994-11-11 Method and device for calibration of movement axes of an industrial robot
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 true SE9303757L (sv) 1995-05-16
SE501867C2 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 (sv)
EP (1) EP0655301B1 (sv)
JP (1) JPH07186073A (sv)
DE (1) DE69411130T2 (sv)
ES (1) ES2119946T3 (sv)
SE (1) SE501867C2 (sv)

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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 (en) * 2008-04-30 2012-03-21 ABB Technology AB A method and a system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot
EP2547490B1 (en) * 2010-03-18 2014-01-08 ABB Research Ltd. Calibration of a base coordinate system for an industrial robot
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
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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 (en) * 2015-02-02 2018-08-22 Rolls-Royce North American Technologies, Inc. Multi-axis calibration block
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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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
DE69411130T2 (de) 1999-02-11
SE501867C2 (sv) 1995-06-12
EP0655301B1 (en) 1998-06-17
EP0655301A1 (en) 1995-05-31

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Legal Events

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NUG Patent has lapsed