ATE504868T1 - Verfahren zur berechnung eines rotationsmittelpunktes, verfahren zur berechnung einer rotationsachse, verfahren zur erstellung eines programms, betriebsverfahren und robotergerät - Google Patents

Verfahren zur berechnung eines rotationsmittelpunktes, verfahren zur berechnung einer rotationsachse, verfahren zur erstellung eines programms, betriebsverfahren und robotergerät

Info

Publication number
ATE504868T1
ATE504868T1 AT07713626T AT07713626T ATE504868T1 AT E504868 T1 ATE504868 T1 AT E504868T1 AT 07713626 T AT07713626 T AT 07713626T AT 07713626 T AT07713626 T AT 07713626T AT E504868 T1 ATE504868 T1 AT E504868T1
Authority
AT
Austria
Prior art keywords
rotation
calculation
plane
location information
predetermined position
Prior art date
Application number
AT07713626T
Other languages
English (en)
Inventor
Yoshiyuki Okazaki
Masaya Hirayama
Original Assignee
Panasonic Corp
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 Panasonic Corp filed Critical Panasonic Corp
Application granted granted Critical
Publication of ATE504868T1 publication Critical patent/ATE504868T1/de

Links

Classifications

    • 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
    • B25J9/1679—Program 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
    • 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
    • G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • 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
    • G05B2219/37608—Center and diameter of hole, wafer, object
    • 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
    • G05B2219/40131—Virtual reality control, programming 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40383—Correction, modification program by detection type workpiece

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
AT07713626T 2006-05-31 2007-01-17 Verfahren zur berechnung eines rotationsmittelpunktes, verfahren zur berechnung einer rotationsachse, verfahren zur erstellung eines programms, betriebsverfahren und robotergerät ATE504868T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006151233 2006-05-31
PCT/JP2007/050579 WO2007138756A1 (ja) 2006-05-31 2007-01-17 回転中心点算出方法、回転軸線算出方法、プログラムの作成方法、動作方法およびロボット装置

Publications (1)

Publication Number Publication Date
ATE504868T1 true ATE504868T1 (de) 2011-04-15

Family

ID=38778283

Family Applications (1)

Application Number Title Priority Date Filing Date
AT07713626T ATE504868T1 (de) 2006-05-31 2007-01-17 Verfahren zur berechnung eines rotationsmittelpunktes, verfahren zur berechnung einer rotationsachse, verfahren zur erstellung eines programms, betriebsverfahren und robotergerät

Country Status (7)

Country Link
US (1) US7957834B2 (de)
EP (1) EP1886771B1 (de)
JP (1) JP4613955B2 (de)
CN (1) CN101213049B (de)
AT (1) ATE504868T1 (de)
DE (1) DE602007013654D1 (de)
WO (1) WO2007138756A1 (de)

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KR101656130B1 (ko) * 2010-10-26 2016-09-08 에베 그룹 에. 탈너 게엠베하 회전축의 위치를 결정하기 위한 방법
AT511523B1 (de) * 2011-05-23 2013-06-15 Amst Systemtechnik Gmbh Vorrichtung zur räumlichen bewegung von personen
JP5729404B2 (ja) 2013-02-21 2015-06-03 株式会社安川電機 ティーチングシステムおよびティーチング方法
JP6475409B2 (ja) 2013-12-20 2019-02-27 蛇の目ミシン工業株式会社 ロボット、ロボットの制御方法、及びロボットの制御プログラム
JP6486005B2 (ja) * 2014-01-17 2019-03-20 蛇の目ミシン工業株式会社 ロボット、ロボットの制御方法、及びロボットの制御プログラム
EP2958200A1 (de) * 2014-06-16 2015-12-23 Delphi Technologies, Inc. Verfahren zum Kalibrieren einer Bestückungsvorrichtung
CN104977148B (zh) * 2015-07-30 2017-06-30 四川省工业设备安装公司 风洞试验段迎角机构旋转中心的检测装置及方法
DE102016013891A1 (de) * 2016-11-21 2018-05-24 Kuka Roboter Gmbh Vermessen einer Bewegungsachse eines Roboters

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Also Published As

Publication number Publication date
DE602007013654D1 (de) 2011-05-19
JPWO2007138756A1 (ja) 2009-10-01
CN101213049A (zh) 2008-07-02
US20090228144A1 (en) 2009-09-10
EP1886771A1 (de) 2008-02-13
JP4613955B2 (ja) 2011-01-19
CN101213049B (zh) 2010-11-03
US7957834B2 (en) 2011-06-07
EP1886771A4 (de) 2010-01-06
WO2007138756A1 (ja) 2007-12-06
EP1886771B1 (de) 2011-04-06

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