BR9910461A - Processo de controle para um robÈ - Google Patents

Processo de controle para um robÈ

Info

Publication number
BR9910461A
BR9910461A BR9910461-0A BR9910461A BR9910461A BR 9910461 A BR9910461 A BR 9910461A BR 9910461 A BR9910461 A BR 9910461A BR 9910461 A BR9910461 A BR 9910461A
Authority
BR
Brazil
Prior art keywords
robot
control process
control
thermal
robè
Prior art date
Application number
BR9910461-0A
Other languages
English (en)
Inventor
Ralf-Gunter Groser
Robert Klingel
Original Assignee
Inst F R Werkzeugmaschinen Und
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=7867914&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=BR9910461(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Inst F R Werkzeugmaschinen Und filed Critical Inst F R Werkzeugmaschinen Und
Publication of BR9910461A publication Critical patent/BR9910461A/pt

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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector
    • 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
    • G05B2219/39033—Laser tracking of end effector, measure orientation of rotatable mirror
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49206—Compensation temperature, thermal displacement, use measured temperature
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49207—Compensate thermal displacement using measured distance
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)

Abstract

"PROCESSO DE CONTROLE PARA UM ROBÈ" A invenção refere-se a um processo para controlar um robó industrial e, mais particularmente, a um processo para reduzir variáveis de influência térmica, sendo que pontos de medição de referência são inseridos na área de trabalho do robó, os quais são atravessados pelo robó, sendo que os dados efetivos dos pontos de referência são processados por um computador de modo a ser obter dados de correção que são conduzidos à eletrónica de condução do robó. De acordo com a invenção configura-se um modelo de erro que corrige os erros térmicos de posicionamento e de orientação, sem que seja necessário determinar a temperatura efetiva no robó.
BR9910461-0A 1998-05-15 1999-05-14 Processo de controle para um robÈ BR9910461A (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19821873A DE19821873C2 (de) 1998-05-15 1998-05-15 Verfahren zum Verringern des Einflusses von Temperaturänderungen auf Industrieroboter
PCT/DE1999/001468 WO1999060452A2 (de) 1998-05-15 1999-05-14 Steuerverfahren für einen industrieroboter

Publications (1)

Publication Number Publication Date
BR9910461A true BR9910461A (pt) 2001-01-02

Family

ID=7867914

Family Applications (1)

Application Number Title Priority Date Filing Date
BR9910461-0A BR9910461A (pt) 1998-05-15 1999-05-14 Processo de controle para um robÈ

Country Status (14)

Country Link
US (1) US6345213B1 (pt)
EP (1) EP1086407B1 (pt)
JP (1) JP2002516424A (pt)
AT (1) ATE251770T1 (pt)
AU (1) AU5147699A (pt)
BR (1) BR9910461A (pt)
DE (2) DE19821873C2 (pt)
ES (1) ES2207265T3 (pt)
HU (1) HUP0101865A3 (pt)
MX (1) MXPA00011163A (pt)
PL (1) PL344784A1 (pt)
PT (1) PT1086407E (pt)
TR (1) TR200003375T2 (pt)
WO (1) WO1999060452A2 (pt)

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DE19854011A1 (de) * 1998-11-12 2000-05-25 Knoll Alois Einrichtung und Verfahren zum Vermessen von Mechanismen und ihrer Stellung
DE19931676C2 (de) * 1999-07-08 2002-07-11 Kuka Schweissanlagen Gmbh Verfahren zum Vermessen von Werkstücken und Bearbeitungsstation
US6615112B1 (en) 1999-06-26 2003-09-02 Kuka Schweissanlagen Gmbh Method and device for calibrating robot measuring stations, manipulators and associated optical measuring devices
JP4108342B2 (ja) * 2001-01-30 2008-06-25 日本電気株式会社 ロボット、ロボット制御システム、およびそのプログラム
JP3594016B2 (ja) * 2001-01-30 2004-11-24 日本電気株式会社 ロボットのプログラム実行方法、ロボットシステムおよびプログラム処理装置
DE10159574B9 (de) * 2001-10-15 2009-04-30 Tropf, Hermann, Dr.-Ing. Vorrichtung und Verfahren zur Korrektur der Bewegung von Greif- und Bearbeitungswerkzeugen
DE10153049B4 (de) * 2001-10-26 2007-03-08 Wiest Ag 3D-Koordinationssystem
DE10236844B4 (de) * 2002-08-08 2015-02-19 Volkswagen Ag Überwachung der Prozessgenauigkeit
DE10302592A1 (de) 2003-01-22 2004-07-29 Claas Fertigungstechnik Gmbh Verfahren und Vorrichtung zum Betreiben eines Arbeitsroboters
DE102004026185A1 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
DE102007001395B4 (de) * 2007-01-09 2015-10-15 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Justieren wenigstens einer Achse
DE102007006708A1 (de) 2007-02-10 2008-08-14 Abb Research Ltd. Verfahren zur Sicherung eines Handhabungsgeräts
DE102007043632B4 (de) * 2007-09-13 2013-03-21 Kuka Roboter Gmbh Industrieroboter mit einer Entfernungsmessvorrichtung und Verfahren zum Vermessen eines Objekts
US20090326712A1 (en) * 2008-06-26 2009-12-31 Utica Enterprises, Inc. Calibration for vehicle body assembly
DE102008060052A1 (de) * 2008-12-02 2010-06-17 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Kompensation einer kinematischen Abweichung
DE102009054421A1 (de) 2009-11-24 2011-06-01 Kuka Roboter Gmbh Verfahren zum Erstellen eines Robotermodells und Industrieroboter
US8412378B2 (en) 2009-12-02 2013-04-02 GM Global Technology Operations LLC In-vivo tension calibration in tendon-driven manipulators
DE102010031248A1 (de) * 2010-07-12 2012-01-12 Kuka Roboter Gmbh Verfahren zum Vermessen eines Roboterarms eines Industrieroboters
IT1405141B1 (it) * 2011-02-25 2013-12-20 Camozzi Machine Tools S P A Ora Innse Berardi S P A Macchina utensile con compensazione delle deformazioni termiche di organi di misura
DE102011017398A1 (de) * 2011-04-18 2012-10-18 Kuka Roboter Gmbh Verfahren und Mittel zum Steuern einer Roboteranordnung
US10088826B2 (en) * 2014-08-20 2018-10-02 Ford Global Technologies, Llc CNC machine thermal growth characterization and thermal compensation correction
DE102014119654A1 (de) * 2014-12-29 2016-06-30 Brötje-Automation GmbH Verfahren zur Kompensation einer Abweichung eines Arbeitspunkts
JP6968700B2 (ja) 2015-05-13 2021-11-17 シェイパー ツールズ, インク.Shaper Tools, Inc. 案内工具用のシステム、方法、および装置
DE102015211406A1 (de) * 2015-06-22 2016-12-22 Kuka Roboter Gmbh Verbesserung der Temperaturdriftkompensation durch Einlernen der Restdrift
DE102015211407A1 (de) * 2015-06-22 2016-12-22 Kuka Roboter Gmbh Verbesserung der Temperaturdriftkompensation durch geregelte Überkompensation
DE102015211405A1 (de) * 2015-06-22 2016-12-22 Kuka Roboter Gmbh Verbesserung der Temperaturdriftkompensation durch Kalibrierung am Bauteil und Einlernen der Parametersätze
TWI822729B (zh) 2018-02-06 2023-11-21 美商即時機器人股份有限公司 用於儲存一離散環境於一或多個處理器之一機器人之運動規劃及其改良操作之方法及設備
EP3769174B1 (en) * 2018-03-21 2022-07-06 Realtime Robotics, Inc. Motion planning of a robot for various environments and tasks and improved operation of same
TWI873149B (zh) 2019-06-24 2025-02-21 美商即時機器人股份有限公司 用於多個機械手臂於共用工作空間中之移動規劃系統及方法
CN110726362B (zh) * 2019-11-14 2024-08-20 昆明理工大学 一种位移测量装置、误差温度补偿系统及方法
CN111352098B (zh) * 2020-02-21 2021-11-19 奥比中光科技集团股份有限公司 一种ToF相机的温漂标定的方法及系统
JP2023518071A (ja) 2020-03-18 2023-04-27 リアルタイム ロボティクス， インコーポレーテッド ロボットの動作計画に有用なロボット操作環境のデジタル表現
CN112147951B (zh) * 2020-09-28 2022-09-30 沈机（上海）智能系统研发设计有限公司 机加工设备热误差补偿方法及其装置、系统、介质、终端

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AU3294197A (en) * 1996-06-06 1998-01-05 Boeing Company, The Method for improving the accuracy of machines

Also Published As

Publication number Publication date
HUP0101865A3 (en) 2003-08-28
TR200003375T2 (tr) 2001-05-21
EP1086407A2 (de) 2001-03-28
EP1086407B1 (de) 2003-10-08
AU5147699A (en) 1999-12-06
ES2207265T3 (es) 2004-05-16
WO1999060452A2 (de) 1999-11-25
DE19821873C2 (de) 2000-07-13
PT1086407E (pt) 2004-03-31
HUP0101865A2 (hu) 2001-09-28
DE19821873A1 (de) 1999-11-25
MXPA00011163A (es) 2003-04-22
PL344784A1 (en) 2001-11-19
JP2002516424A (ja) 2002-06-04
ATE251770T1 (de) 2003-10-15
WO1999060452A3 (de) 1999-12-29
US6345213B1 (en) 2002-02-05
DE19980910D2 (de) 2001-06-28

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Legal Events

Date Code Title Description
B25A Requested transfer of rights approved

Owner name: KUKA ROBOTER GMBH (DE)

Free format text: TRANSFERIDO DE: INSTITUT FUR WERKZEUGMASCHINEN UND BETRIEBSWISSENSCHAFTEN

B06A Patent application procedure suspended [chapter 6.1 patent gazette]
B11B Dismissal acc. art. 36, par 1 of ipl - no reply within 90 days to fullfil the necessary requirements