ATE412495T1 - Verfahren und system zur programmierung eines industrieroboterszu einer bewegung bezüglich definierter positionen an einem objekt, einschliesslichder erzeugung eines oberflächenabtastprogramms - Google Patents

Verfahren und system zur programmierung eines industrieroboterszu einer bewegung bezüglich definierter positionen an einem objekt, einschliesslichder erzeugung eines oberflächenabtastprogramms

Info

Publication number
ATE412495T1
ATE412495T1 AT03781231T AT03781231T ATE412495T1 AT E412495 T1 ATE412495 T1 AT E412495T1 AT 03781231 T AT03781231 T AT 03781231T AT 03781231 T AT03781231 T AT 03781231T AT E412495 T1 ATE412495 T1 AT E412495T1
Authority
AT
Austria
Prior art keywords
industrial robot
defined positions
programming
move
robot
Prior art date
Application number
AT03781231T
Other languages
English (en)
Inventor
Torgny Brogardh
Original Assignee
Abb Ab
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 Ab filed Critical Abb Ab
Application granted granted Critical
Publication of ATE412495T1 publication Critical patent/ATE412495T1/de

Links

Classifications

    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting program, configuration
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34135—Spline
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36504—Adapt program to real coordinates, shape, dimension of tool, offset path
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40581—Touch sensing, arc sensing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
AT03781231T 2003-02-13 2003-12-17 Verfahren und system zur programmierung eines industrieroboterszu einer bewegung bezüglich definierter positionen an einem objekt, einschliesslichder erzeugung eines oberflächenabtastprogramms ATE412495T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0300409A SE524818C2 (sv) 2003-02-13 2003-02-13 En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt

Publications (1)

Publication Number Publication Date
ATE412495T1 true ATE412495T1 (de) 2008-11-15

Family

ID=20290412

Family Applications (1)

Application Number Title Priority Date Filing Date
AT03781231T ATE412495T1 (de) 2003-02-13 2003-12-17 Verfahren und system zur programmierung eines industrieroboterszu einer bewegung bezüglich definierter positionen an einem objekt, einschliesslichder erzeugung eines oberflächenabtastprogramms

Country Status (8)

Country Link
US (1) US7272524B2 (de)
EP (1) EP1592536B1 (de)
CN (1) CN100357071C (de)
AT (1) ATE412495T1 (de)
AU (1) AU2003289695A1 (de)
DE (1) DE60324472D1 (de)
SE (1) SE524818C2 (de)
WO (1) WO2004071717A1 (de)

Families Citing this family (122)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE524818C2 (sv) * 2003-02-13 2004-10-05 Abb Ab En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt
US6822412B1 (en) * 2003-06-11 2004-11-23 Zhongxue Gan Method for calibrating and programming of a robot application
JP3977369B2 (ja) * 2004-10-01 2007-09-19 ファナック株式会社 ロボットプログラム生成装置及び解析装置
EP1854037B1 (de) * 2005-02-25 2014-12-31 Abb Research Ltd. Verfahren und vorrichtung zum automatisierten lernen eines wegs
WO2006089887A2 (en) 2005-02-28 2006-08-31 Abb Ab A system for calibration of an industrial robot and a method thereof
DE102005050205A1 (de) * 2005-10-20 2007-04-26 Mtu Aero Engines Gmbh Verfahren und Vorrichtung zum Kompensieren von Lage-und Formabweichungen
JP2007134998A (ja) * 2005-11-10 2007-05-31 Sony Corp 電子機器及びその制御方法
DE102005061570A1 (de) * 2005-12-22 2007-07-05 Siemens Ag Ermittlungsverfahren für eine lagegeführte abzufahrende Grobbahn
PL1996376T3 (pl) 2006-03-03 2016-12-30 Programowalny robot i interfejs użytkownika
DE102006022831A1 (de) * 2006-05-16 2007-11-22 Siemens Ag Verfahren zum Steuern einer Schleifmaschine und numerisch gesteuerte Schleifmaschine
DE102006049957A1 (de) * 2006-10-19 2008-04-24 Abb Ag System und Verfahren zur Kalibrierung einer Handhabungsvorrichtung
DE102007007574B3 (de) * 2007-02-15 2008-04-03 Kuka Roboter Gmbh Verfahren zum Ermitteln von Messstellen
DE102007008598A1 (de) * 2007-02-19 2008-08-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Automatische Programmierung von Robotern zum Abschweißen gehefteter Profile auf Mikropaneelen mit Hilfe digitaler Bilderfassung
DE102007009851B3 (de) 2007-02-28 2008-05-29 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Bestimmen der Lage eines Industrieroboters relativ zu einem Objekt
WO2008113783A2 (en) * 2007-03-21 2008-09-25 Abb Technology Ab A method and an apparatus for compensating for geometrical errors between work objects and a holding device
US8578581B2 (en) * 2007-04-16 2013-11-12 Pratt & Whitney Canada Corp. Method of making a part and related system
AU2008246203B2 (en) 2007-04-26 2012-08-16 Omron Robotics And Safety Technologies, Inc. Vacuum gripping apparatus
DE102007043632B4 (de) 2007-09-13 2013-03-21 Kuka Roboter Gmbh Industrieroboter mit einer Entfernungsmessvorrichtung und Verfahren zum Vermessen eines Objekts
JP5027606B2 (ja) * 2007-09-26 2012-09-19 株式会社キーエンス レーザ加工装置、加工データ生成方法及びコンピュータプログラム
WO2009049682A1 (en) * 2007-10-19 2009-04-23 Abb Technology Ab An industrial robot tending a machine and a method for controlling an industrial robot tending a machine
US20090118864A1 (en) * 2007-11-01 2009-05-07 Bryce Eldridge Method and system for finding a tool center point for a robot using an external camera
JP4347386B2 (ja) * 2008-01-23 2009-10-21 ファナック株式会社 加工用ロボットプラグラムの作成装置
US20090192644A1 (en) * 2008-01-30 2009-07-30 Meyer Thomas J Method and system for manufacturing an article using portable hand-held tools
DE102008007382A1 (de) * 2008-02-01 2009-08-13 Kuka Innotec Gmbh Verfahren und Vorrichtung zum Positionieren eines Werkzeugs an einem Werkstück einer Scheibe in ein Kraftfahrzeug
DE102008021624A1 (de) 2008-04-30 2008-12-18 Daimler Ag Verfahren zum Einrichten eines Messpunktes für einen Sensor
KR101495333B1 (ko) * 2008-07-02 2015-02-25 삼성전자 주식회사 장애물 검출 장치 및 방법
US20100017026A1 (en) * 2008-07-21 2010-01-21 Honeywell International Inc. Robotic system with simulation and mission partitions
ES2338622B1 (es) * 2008-07-23 2011-07-01 Estudios De Ingenieria Adaptada, S.L. Cabezal posicionador de herramienta sobre superficies irregulares.
JP2010052067A (ja) * 2008-08-27 2010-03-11 Kawasaki Heavy Ind Ltd 自動仕上げ装置とその制御方法
DE102010007458A1 (de) * 2010-02-10 2011-08-11 KUKA Laboratories GmbH, 86165 Verfahren für eine kollisionsfreie Bahnplanung eines Industrieroboters
JP5393531B2 (ja) * 2010-02-25 2014-01-22 キヤノン株式会社 位置姿勢推定装置、位置姿勢推定方法、プログラム、記憶媒体
EP2369434B1 (de) * 2010-03-26 2014-05-21 Richard Meyer-Theilinger Verfahren zum automatischen Abtragen eines Materialvolumens
US9393694B2 (en) * 2010-05-14 2016-07-19 Cognex Corporation System and method for robust calibration between a machine vision system and a robot
SE1050763A1 (sv) * 2010-07-08 2010-07-12 Abb Research Ltd En metod för att kalibrera en mobil robot
DE102010034683A1 (de) * 2010-08-18 2012-02-23 Kuka Roboter Gmbh Verfahren und Programmiermittel zum Programmieren eines Roboters
US9015093B1 (en) 2010-10-26 2015-04-21 Michael Lamport Commons Intelligent control with hierarchical stacked neural networks
US8775341B1 (en) 2010-10-26 2014-07-08 Michael Lamport Commons Intelligent control with hierarchical stacked neural networks
EP2453325A1 (de) * 2010-11-16 2012-05-16 Universal Robots ApS Verfahren und Mittel zur Steuerung eines Roboters
US8747188B2 (en) * 2011-02-24 2014-06-10 Apple Inc. Smart automation of robotic surface finishing
US20150127154A1 (en) * 2011-06-02 2015-05-07 Brain Corporation Reduced degree of freedom robotic controller apparatus and methods
US9566710B2 (en) * 2011-06-02 2017-02-14 Brain Corporation Apparatus and methods for operating robotic devices using selective state space training
CN102354150B (zh) * 2011-07-14 2013-09-11 长春轨道客车股份有限公司 铝合金车体侧墙窗口加工方法
GB201113331D0 (en) * 2011-08-03 2011-09-14 Rolls Royce Plc Control of a machining operation
US9008813B2 (en) * 2011-09-22 2015-04-14 GM Global Technology Operations LLC Method to improve the dimensional accuracy and surface quality for large spring back compensation for fuel cell bipolar plate forming
JP6182143B2 (ja) * 2011-09-28 2017-08-16 ユニバーサル ロボッツ アクツイエセルスカプ ロボットの較正およびプログラミング
US8833169B2 (en) * 2011-12-09 2014-09-16 General Electric Company System and method for inspection of a part with dual multi-axis robotic devices
US9822956B2 (en) * 2012-01-05 2017-11-21 Cast Group Of Companies Inc. System and method for calibrating a fixture configured to rotate and/or translate
JP5340455B1 (ja) * 2012-05-30 2013-11-13 ファナック株式会社 オフラインプログラミング装置
JP5642738B2 (ja) * 2012-07-26 2014-12-17 ファナック株式会社 バラ積みされた物品をロボットで取出す装置及び方法
DE102012015437A1 (de) * 2012-08-02 2014-05-15 Kuka Roboter Gmbh Verfahren und Programmiermittel zur Modifikation einer Roboterbahn
GB2505497A (en) * 2012-09-03 2014-03-05 Rolls Royce Plc Method of determining a tool path for machining a component
US9971339B2 (en) 2012-09-26 2018-05-15 Apple Inc. Contact patch simulation
US9764468B2 (en) 2013-03-15 2017-09-19 Brain Corporation Adaptive predictor apparatus and methods
US9452533B2 (en) * 2013-05-15 2016-09-27 Hexagon Technology Center Gmbh Robot modeling and positioning
US9242372B2 (en) 2013-05-31 2016-01-26 Brain Corporation Adaptive robotic interface apparatus and methods
US9314924B1 (en) 2013-06-14 2016-04-19 Brain Corporation Predictive robotic controller apparatus and methods
US9792546B2 (en) 2013-06-14 2017-10-17 Brain Corporation Hierarchical robotic controller apparatus and methods
US9579789B2 (en) 2013-09-27 2017-02-28 Brain Corporation Apparatus and methods for training of robotic control arbitration
WO2015058277A1 (en) 2013-10-25 2015-04-30 Transformix Engineering Inc. Flexible feeding and closing machine for hinged caps
US9463571B2 (en) 2013-11-01 2016-10-11 Brian Corporation Apparatus and methods for online training of robots
US9597797B2 (en) 2013-11-01 2017-03-21 Brain Corporation Apparatus and methods for haptic training of robots
US9874628B2 (en) * 2013-11-12 2018-01-23 The Boeing Company Dual hidden point bars
US9248569B2 (en) 2013-11-22 2016-02-02 Brain Corporation Discrepancy detection apparatus and methods for machine learning
US9962835B2 (en) 2013-12-17 2018-05-08 Syddansk Universitet Device for dynamic switching of robot control points
US9358685B2 (en) 2014-02-03 2016-06-07 Brain Corporation Apparatus and methods for control of robot actions based on corrective user inputs
JP5850962B2 (ja) * 2014-02-13 2016-02-03 ファナック株式会社 ビジュアルフィードバックを利用したロボットシステム
JP7042554B2 (ja) 2014-03-04 2022-03-28 ユニバーサル ロボッツ アクツイエセルスカプ 安全機能を有する工業用ロボットとその安全制御のための方法
JP6311421B2 (ja) * 2014-04-10 2018-04-18 株式会社安川電機 ティーチングシステム、ロボットシステムおよびティーチング方法
US9346167B2 (en) 2014-04-29 2016-05-24 Brain Corporation Trainable convolutional network apparatus and methods for operating a robotic vehicle
CN105094045B (zh) * 2014-05-09 2017-11-10 上海铼钠克数控科技股份有限公司 数控机床及利用其实施的定位加工方法
US10836038B2 (en) 2014-05-21 2020-11-17 Fanuc America Corporation Learning path control
JP6415190B2 (ja) * 2014-09-03 2018-10-31 キヤノン株式会社 ロボット装置、ロボット制御プログラム、記録媒体、およびロボット装置の制御方法
JP6678648B2 (ja) 2014-09-26 2020-04-08 テラダイン、 インコーポレイテッド グリッパと自動試験装置
US9630318B2 (en) 2014-10-02 2017-04-25 Brain Corporation Feature detection apparatus and methods for training of robotic navigation
GB201418349D0 (en) 2014-10-16 2014-12-03 Rolls Royce Plc Virtual component alignment
DE102014017307B4 (de) * 2014-11-21 2019-08-01 Kuka Roboter Gmbh Verfahren und System zum Bearbeiten eines Bauteils mit einem robotergeführten Werkzeug
CN104714473B (zh) * 2014-12-04 2017-11-24 北京航空航天大学 一种管路柔性装焊的导管余量切割位置计算方法
KR102291215B1 (ko) * 2015-02-05 2021-08-19 에이비비 슈바이쯔 아게 프레스에 블랭크를 로딩하기 위한 방법 및 시스템
US9717387B1 (en) 2015-02-26 2017-08-01 Brain Corporation Apparatus and methods for programming and training of robotic household appliances
DE102015206981A1 (de) * 2015-04-17 2016-10-20 Kuka Systems Gmbh Adaptives Automatisierungssystem zur Bauteilprüfung
KR102603939B1 (ko) 2015-07-08 2023-11-20 유니버셜 로보츠 에이/에스 제3자 기여를 가진 산업용 로봇의 최종 사용자 프로그래밍 확장 방법
TWI805545B (zh) 2016-04-12 2023-06-21 丹麥商環球機器人公司 用於藉由示範來程式化機器人之方法和電腦程式產品
GB2551769B (en) * 2016-06-30 2020-02-19 Rolls Royce Plc Methods, apparatus, computer programs and non-transitory computer readable storage mediums for controlling a robot within a volume
CN106180965A (zh) * 2016-07-18 2016-12-07 上海发那科机器人有限公司 一种机器人的激光扫描焊接装置及方法
AT518859B1 (de) * 2016-08-12 2018-02-15 Qness Gmbh Verfahren und Vorrichtung zur Härteprüfung
US9864933B1 (en) 2016-08-23 2018-01-09 Jasmin Cosic Artificially intelligent systems, devices, and methods for learning and/or using visual surrounding for autonomous object operation
TWI632342B (zh) 2016-11-30 2018-08-11 財團法人工業技術研究院 量測設備及量測方法
US10607134B1 (en) 2016-12-19 2020-03-31 Jasmin Cosic Artificially intelligent systems, devices, and methods for learning and/or using an avatar's circumstances for autonomous avatar operation
KR102576842B1 (ko) * 2017-01-04 2023-09-12 삼성전자주식회사 핸드-아이 캘리브레이션을 수행하는 로봇 및 전자 장치
CN110198812B (zh) * 2017-02-24 2022-02-18 Abb瑞士股份有限公司 用于选择用于工业机器人调试的初始点的方法和装置
JP6392922B1 (ja) * 2017-03-21 2018-09-19 ファナック株式会社 検査システムの検査対象外となる領域を算出する装置、および検査対象外となる領域を算出する方法
US20180348730A1 (en) * 2017-06-01 2018-12-06 X Development Llc Automatic Generation of Toolpaths
FR3067957B1 (fr) * 2017-06-26 2020-10-23 Capsix Dispositif de gestion des deplacements d'un robot et robot de soin associe
CA3084526C (en) 2017-11-14 2024-02-20 Hai Robotics Co., Ltd. Handling robot and method for retrieving inventory item based on handling robot
US12006143B2 (en) * 2017-11-14 2024-06-11 Hai Robotics Co., Ltd. Handling robot
JP7185639B2 (ja) * 2017-11-28 2022-12-07 川崎重工業株式会社 技能伝承機械装置
JP7483321B2 (ja) * 2018-02-13 2024-05-15 キヤノン株式会社 制御装置、制御方法、ロボットシステム、物品の製造方法、表示装置、プログラム及び記録媒体
US10625419B2 (en) * 2018-03-21 2020-04-21 The Boeing Company Robotic system and method for operating on a workpiece
US10967507B2 (en) 2018-05-02 2021-04-06 X Development Llc Positioning a robot sensor for object classification
JP6773098B2 (ja) 2018-10-17 2020-10-21 株式会社安川電機 ロボットシステム及びロボット制御方法
JP6806757B2 (ja) * 2018-11-16 2021-01-06 ファナック株式会社 動作プログラム作成装置
KR102561103B1 (ko) * 2018-11-16 2023-07-31 삼성전자주식회사 로봇 보정 시스템 및 그것의 보정 방법
CN109799701B (zh) * 2018-12-29 2022-04-29 南京埃斯顿机器人工程有限公司 一种工业机器人振动抑制方法
US10870204B2 (en) 2019-01-25 2020-12-22 Mujin, Inc. Robotic system control method and controller
US10456915B1 (en) * 2019-01-25 2019-10-29 Mujin, Inc. Robotic system with enhanced scanning mechanism
US11619920B2 (en) * 2019-04-03 2023-04-04 Rohde & Schwarz Gmbh & Co. Kg Method of customized setting as well as measurement system
CN110531699B (zh) * 2019-08-22 2022-05-06 成都飞机工业（集团）有限责任公司 一种机床测头自动测量设定工件平面的方法
DK180508B1 (en) 2019-10-22 2021-06-03 Universal Robots As Maintaining free-drive mode of robot arm for period of time
EP4049104B1 (de) 2019-10-22 2026-02-18 Universal Robots A/S Roboterarm mit adaptiver dreidimensionaler begrenzung im freilauf
WO2021078344A1 (en) 2019-10-22 2021-04-29 Universal Robots A/S Safe activation of free-drive mode of robot arm
EP3913377B1 (de) * 2020-05-18 2024-10-02 MCI Internationale Hochschule GmbH Verfahren und vorrichtung zum abfahren einer bahnkurve im nahbereich einer objektoberfläche
TWI727851B (zh) * 2020-07-13 2021-05-11 創博股份有限公司 於弧形路徑中控制端效器追蹤物件的方法
CN112923889B (zh) * 2021-01-26 2023-03-14 杭州思锐迪科技有限公司 扫描方法、装置、三维扫描系统、电子装置和存储介质
JP7701465B2 (ja) * 2021-10-29 2025-07-01 ファナック株式会社 作業支援装置及び作業支援方法
US12346091B2 (en) * 2021-11-19 2025-07-01 Pratt & Whitney Canada Corp. Method of manufacturing a part of an aircraft engine
CN114011608B (zh) * 2021-11-26 2023-04-18 航天科工深圳（集团）有限公司 基于数字孪生的喷涂工艺优化系统及其喷涂优化方法
USD1099187S1 (en) 2022-01-14 2025-10-21 Universal Robots A/S Robot joint
USD1082878S1 (en) 2022-01-14 2025-07-08 Universal Robots A/S Robot joint
CN116150863B (zh) * 2023-04-24 2023-07-07 矩阵纵横设计股份有限公司 基于人工智能的装修处理方法、装置、设备及存储介质
US20250114863A1 (en) * 2023-10-06 2025-04-10 Pratt & Whitney Canada Corp. Assembly and method for machining a component
US20250196357A1 (en) * 2023-12-14 2025-06-19 Industrial Technology Research Institute Parameter calibration method, parameter calibration system and non-transitory computer readable medium
WO2026062609A1 (en) * 2024-09-23 2026-03-26 Gaiotto Automation S.P.A. Method for controlling a robotised system and related robotised system

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2927258A (en) * 1951-07-27 1960-03-01 Lippel Bernard System for controlling automatic machine tools
US3543910A (en) * 1968-07-30 1970-12-01 George C Devol Work-head automatic motions controls
US4670849A (en) * 1983-03-31 1987-06-02 Hitachi, Ltd. Position error correcting method and apparatus for industrial robot
US4831549A (en) * 1987-07-28 1989-05-16 Brigham Young University Device and method for correction of robot inaccuracy
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
JPH09507439A (ja) * 1994-09-02 1997-07-29 シンプラス，インコーポレイテッド 対話形機械制御装置及び方法
FI955274A7 (fi) * 1995-11-03 1997-05-04 Robotic Technology Systems Fin Työstösolu ja menetelmä kappaleen työstämiseksi
WO1997043703A1 (en) * 1996-05-10 1997-11-20 Automated Precision, Inc. Real time machine tool error correction using global differential wet modeling
CN1221500B (zh) * 1996-06-06 2013-06-05 波音公司 改进精度的机床系统及其方法
US6269284B1 (en) * 1997-05-09 2001-07-31 Kam C. Lau Real time machine tool error correction using global differential wet modeling
US6256546B1 (en) * 1998-09-28 2001-07-03 General Electric Company System and method for numerical control processing of an in-processing part
CN1075420C (zh) * 1999-12-30 2001-11-28 清华大学 智能寻位加工方法
ATA12922000A (de) * 2000-07-21 2005-07-15 Tms Produktionssysteme Gmbh Verfahren und anordnung zur qualitätssicherung in einer fertigungsanlage
KR100345150B1 (ko) * 2000-09-29 2002-07-24 현대자동차주식회사 레이저 측정기를 이용한 로봇 위치 보정 방법
GB0126526D0 (en) * 2001-11-05 2002-01-02 Canon Europa Nv Three-dimensional computer modelling
JP2003150219A (ja) 2001-11-12 2003-05-23 Fanuc Ltd 作業機械のシミュレーション装置
JP3937078B2 (ja) * 2002-01-16 2007-06-27 株式会社安川電機 ロボットの制御装置及び制御方法
SE524818C2 (sv) * 2003-02-13 2004-10-05 Abb Ab En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt
JP3950805B2 (ja) * 2003-02-27 2007-08-01 ファナック株式会社 教示位置修正装置
DE102004026814A1 (de) * 2004-06-02 2005-12-29 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Verbessern der Positioniergenauigkeit eines Handhabungsgeräts
JP2006048244A (ja) * 2004-08-02 2006-02-16 Fanuc Ltd 加工プログラム作成装置

Also Published As

Publication number Publication date
SE524818C2 (sv) 2004-10-05
US20060181236A1 (en) 2006-08-17
US7272524B2 (en) 2007-09-18
DE60324472D1 (de) 2008-12-11
SE0300409L (sv) 2004-08-14
SE0300409D0 (sv) 2003-02-13
EP1592536B1 (de) 2008-10-29
CN100357071C (zh) 2007-12-26
WO2004071717A1 (en) 2004-08-26
AU2003289695A1 (en) 2004-09-06
CN1747816A (zh) 2006-03-15
EP1592536A1 (de) 2005-11-09

Similar Documents

Publication Publication Date Title
ATE412495T1 (de) Verfahren und system zur programmierung eines industrieroboterszu einer bewegung bezüglich definierter positionen an einem objekt, einschliesslichder erzeugung eines oberflächenabtastprogramms
CN105354880B (zh) 一种基于线激光扫描的喷砂机器人自动路径生成方法
JP5981143B2 (ja) ロボットツールの制御方法
ATE534104T1 (de) Verfahren und vorrichtung zum herstellen eines urformwerkzeugs
DE602004022939D1 (de) Verfahren zur feinabstimmung eines roboterprogramms
CN106362897B (zh) 一种自动化喷涂系统集成喷涂工艺的喷涂路径规划算法
CN106839979A (zh) 激光线结构光传感器的手眼标定方法
ATE342488T1 (de) Bilderzeugungsgerät
PT1899678E (pt) Um sistema e método para a medição e mapeamento de uma superfície em relação a uma referência
ATE414594T1 (de) Vorrichtung und verfahren zur bahnerzeugung für einen industrieroboter
ATE484729T1 (de) Vorrichtung und verfahren zur beurteilung der relativen raumlage zweier gegenstände
EP1818647A3 (de) Formmesssystem, Formmessverfahren und Formmessprogramm
CN106216843A (zh) 一种基于大数据平台的自适应激光喷丸校形装置及方法
CN104165586B (zh) 单台机器人工件坐标系的非接触式高精度标定方法及应用
FI20145372A7 (fi) Menetelmä ja järjestelmä robotin kalibrointiin soveltuvan datan tuottamiseksi
ATE547211T1 (de) Verfahren zum greifen eines objektes mit einem roboterarm mit einer kamera
CN110153582B (zh) 焊接方案生成方法、装置以及焊接系统
CN207724306U (zh) 一种机器人打磨力控制系统
JP2012020297A (ja) 成形品トリム加工方法
FI20155745A7 (fi) Menetelmä ja järjestelmä robotin kalibrointiin soveltuvan datan tuottamiseksi
CN106546184A (zh) 大型复杂曲面三维形貌机器人柔性测量系统
CN111085902A (zh) 一种视觉在线检测及修正的工件打磨系统
CN120205544A (zh) 基于等离子及轨迹控制的自动清洗方法及系统
Penttilä et al. Virtual reality enabled manufacturing of challenging workpieces
CN107020230A (zh) 一种光线投影型静电喷涂修复方法

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties