SE9903905L - Förfarande och anordning för bestämning av ett objekts koordinater och orientering i ett referenskoordinatsystem - Google Patents

Förfarande och anordning för bestämning av ett objekts koordinater och orientering i ett referenskoordinatsystem

Info

Publication number
SE9903905L
SE9903905L SE9903905A SE9903905A SE9903905L SE 9903905 L SE9903905 L SE 9903905L SE 9903905 A SE9903905 A SE 9903905A SE 9903905 A SE9903905 A SE 9903905A SE 9903905 L SE9903905 L SE 9903905L
Authority
SE
Sweden
Prior art keywords
coordinates
orientation
determining
coordinate system
reference coordinate
Prior art date
Application number
SE9903905A
Other languages
English (en)
Other versions
SE9903905D0 (sv
SE515374C2 (sv
Inventor
Ole Arnt Anfindsen
Original Assignee
Abb Flexible Automation As
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 Abb Flexible Automation As filed Critical Abb Flexible Automation As
Priority to SE9903905A priority Critical patent/SE515374C2/sv
Publication of SE9903905D0 publication Critical patent/SE9903905D0/sv
Priority to AT00973120T priority patent/ATE268674T1/de
Priority to PCT/IB2000/001529 priority patent/WO2001030545A1/en
Priority to DE60011458T priority patent/DE60011458T2/de
Priority to AU11668/01A priority patent/AU1166801A/en
Priority to EP00973120A priority patent/EP1227914B1/en
Priority to US10/111,281 priority patent/US6584378B1/en
Publication of SE9903905L publication Critical patent/SE9903905L/sv
Publication of SE515374C2 publication Critical patent/SE515374C2/sv

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37388—Acceleration or deceleration, inertial measurement
    • 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
    • G05B2219/39039—Two cameras detect same reference on workpiece to define its position in space

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
SE9903905A 1999-10-29 1999-10-29 Förfarande och anordning för bestämning av ett objekts koordinater och orientering i ett referenskoordinatsystem SE515374C2 (sv)

Priority Applications (7)

Application Number Priority Date Filing Date Title
SE9903905A SE515374C2 (sv) 1999-10-29 1999-10-29 Förfarande och anordning för bestämning av ett objekts koordinater och orientering i ett referenskoordinatsystem
AT00973120T ATE268674T1 (de) 1999-10-29 2000-10-24 Vorrichtung und verfahren zur bestimmung von koordinaten und orientierung
PCT/IB2000/001529 WO2001030545A1 (en) 1999-10-29 2000-10-24 A device and a method for determining coordinates and orientation
DE60011458T DE60011458T2 (de) 1999-10-29 2000-10-24 Vorrichtung und verfahren zur bestimmung von koordinaten und orientierung
AU11668/01A AU1166801A (en) 1999-10-29 2000-10-24 A device and a method for determining coordinates and orientation
EP00973120A EP1227914B1 (en) 1999-10-29 2000-10-24 A device and a method for determining coordinates and orientation
US10/111,281 US6584378B1 (en) 1999-10-29 2000-10-24 Device and a method for determining coordinates and orientation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9903905A SE515374C2 (sv) 1999-10-29 1999-10-29 Förfarande och anordning för bestämning av ett objekts koordinater och orientering i ett referenskoordinatsystem

Publications (3)

Publication Number Publication Date
SE9903905D0 SE9903905D0 (sv) 1999-10-29
SE9903905L true SE9903905L (sv) 2001-04-30
SE515374C2 SE515374C2 (sv) 2001-07-23

Family

ID=20417530

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9903905A SE515374C2 (sv) 1999-10-29 1999-10-29 Förfarande och anordning för bestämning av ett objekts koordinater och orientering i ett referenskoordinatsystem

Country Status (7)

Country Link
US (1) US6584378B1 (sv)
EP (1) EP1227914B1 (sv)
AT (1) ATE268674T1 (sv)
AU (1) AU1166801A (sv)
DE (1) DE60011458T2 (sv)
SE (1) SE515374C2 (sv)
WO (1) WO2001030545A1 (sv)

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US6845295B2 (en) * 2002-03-07 2005-01-18 Fanuc Robotics America, Inc. Method of controlling a robot through a singularity
US7709048B2 (en) 2002-05-02 2010-05-04 Labcoat, Ltd. Method and apparatus for coating a medical device
SE0303379D0 (sv) * 2003-12-12 2003-12-12 Abb Research Ltd Method, device and system for programming a robot
SE0400320D0 (sv) * 2004-02-06 2004-02-06 Abb Ab Control method for robots
EP1834230A1 (en) * 2004-12-30 2007-09-19 Samsung Electronics Co., Ltd. A terminal data format and a communication control system and method using the terminal data format
DE102006006682B4 (de) * 2005-07-20 2017-03-02 Volkswagen Ag Messsystem zur Vermessung eines Kraftfahrzeuges
US7353135B2 (en) * 2006-03-07 2008-04-01 Robert Malm Positioning and aligning the parts of an assembly
EP2055446A1 (en) 2007-10-31 2009-05-06 Abb As A portable robot control apparatus and a method for controlling a movement of a robot
EP2075096A1 (de) * 2007-12-27 2009-07-01 Leica Geosystems AG Verfahren und System zum hochpräzisen Positionieren mindestens eines Objekts in eine Endlage im Raum
EP2112465A1 (en) * 2008-04-24 2009-10-28 Snap-on Equipment Srl a unico socio. Parameter detection system for wheels
DE102008062623B4 (de) 2008-12-17 2016-08-04 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Auswahl einer gespeicherten Position eines Arbeitspunktes eines Manipulators
DE102008062624A1 (de) 2008-12-17 2010-06-24 Kuka Roboter Gmbh Handgerät und Verfahren zur Erfassung der Raumposition eines Arbeitspunktes eines Manipulators
EP2322897A1 (de) * 2009-11-11 2011-05-18 Günther Battenberg Optisches und mechanisches Verfahren und Vorrichtung zum Vermessen von Werkstücken
DE102010019640A1 (de) 2010-05-06 2011-11-10 Kuka Roboter Gmbh Handgerät und Verfahren zum Steuern und/oder Programmieren eines Manipulators
EP2495627A1 (de) * 2011-03-01 2012-09-05 Siemens Aktiengesellschaft Verfahren zum Betreiben eines mobilen Bediengeräts sowie mobiles Bediengerät
US9008757B2 (en) 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
US9067278B2 (en) 2013-03-29 2015-06-30 Photon Automation, Inc. Pulse spread laser
DE102014102803A1 (de) * 2014-03-03 2015-09-03 Stotz Feinmesstechnik Gmbh Vorrichtung zur Vermessung von Objekten
AU2017294795B2 (en) 2016-07-15 2019-06-13 Fastbrick Ip Pty Ltd Boom for material transport
WO2018009981A1 (en) 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US11441899B2 (en) 2017-07-05 2022-09-13 Fastbrick Ip Pty Ltd Real time position and orientation tracker
EP3668689A4 (en) 2017-08-17 2021-04-28 Fastbrick IP Pty Ltd INTERACTION SYSTEM CONFIGURATION
CN111226090B (zh) 2017-08-17 2023-05-23 快砖知识产权私人有限公司 具有改进的横滚角测量的激光***
AU2018348785B2 (en) 2017-10-11 2024-05-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
CN108050968B (zh) * 2018-01-09 2019-06-04 山东大学 一种手持式空间物体表面坐标测量仪及测量方法
US12036663B2 (en) * 2019-03-25 2024-07-16 Abb Schweiz Ag Method and control arrangement for determining a relation between a robot coordinate system and a movable apparatus coordinate system

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US3795911A (en) * 1961-02-02 1974-03-05 C Hammack Method and apparatus for automatically determining position-motion state of a moving object
DE2731041C3 (de) 1976-07-09 1981-04-02 Régie Nationale des Usines Renault, Boulogne-Billancourt, Hauts-de-Seine Programmiervorrichtung für eine programmgesteuerten Anstrichmanipulator
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JP2532529B2 (ja) 1987-11-26 1996-09-11 松下電器産業株式会社 電動調理機
IT1239878B (it) * 1990-02-02 1993-11-15 Fiat Auto Spa Sistema per la rilevazione dei parametri di movimento di robot industriali e simili.
JPH05318359A (ja) * 1992-05-20 1993-12-03 Tokico Ltd 工業用ロボット
US5615132A (en) * 1994-01-21 1997-03-25 Crossbow Technology, Inc. Method and apparatus for determining position and orientation of a moveable object using accelerometers
JP3394322B2 (ja) * 1994-05-19 2003-04-07 ファナック株式会社 視覚センサを用いた座標系設定方法
FR2737024B1 (fr) * 1995-07-20 1997-10-10 Patenotre Laurent Procede d'apprentissage de forme geometrique, notamment de trajectoire ou de contour, et systemes mettant en oeuvre ce procede
DE69622572T2 (de) 1995-09-14 2003-04-03 Kabushiki Kaisha Yaskawa Denki, Kitakyushu Lehrvorrichtung für roboter
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JP4085208B2 (ja) * 1997-07-24 2008-05-14 株式会社安川電機 ロボットの制御方法
GB9803364D0 (en) * 1998-02-18 1998-04-15 Armstrong Healthcare Ltd Improvements in or relating to a method of an apparatus for registering a robot
US6282459B1 (en) * 1998-09-01 2001-08-28 International Business Machines Corporation Structure and method for detection of physical interference during transport of an article
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
US6430472B1 (en) * 1999-12-20 2002-08-06 Servo-Robot Inc. Robot feature tracking devices and methods
US6374158B1 (en) * 2000-02-15 2002-04-16 General Electric Company Robotic laser pointer

Also Published As

Publication number Publication date
EP1227914A1 (en) 2002-08-07
WO2001030545A1 (en) 2001-05-03
SE9903905D0 (sv) 1999-10-29
DE60011458T2 (de) 2005-06-30
SE515374C2 (sv) 2001-07-23
US6584378B1 (en) 2003-06-24
AU1166801A (en) 2001-05-08
DE60011458D1 (de) 2004-07-15
ATE268674T1 (de) 2004-06-15
EP1227914B1 (en) 2004-06-09

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