ES2119946T3 - Metodo y dispositivo para el calibrado de movimiento de ejes de un robot industrial. - Google Patents

Metodo y dispositivo para el calibrado de movimiento de ejes de un robot industrial.

Info

Publication number
ES2119946T3
ES2119946T3 ES94117825T ES94117825T ES2119946T3 ES 2119946 T3 ES2119946 T3 ES 2119946T3 ES 94117825 T ES94117825 T ES 94117825T ES 94117825 T ES94117825 T ES 94117825T ES 2119946 T3 ES2119946 T3 ES 2119946T3
Authority
ES
Spain
Prior art keywords
robot
calibration
industrial robot
calibrating
axis movement
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
ES94117825T
Other languages
English (en)
Inventor
John-Erik Snell
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AB
Original Assignee
Asea Brown Boveri 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 Asea Brown Boveri AB filed Critical Asea Brown Boveri AB
Application granted granted Critical
Publication of ES2119946T3 publication Critical patent/ES2119946T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • G05B2219/39015—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)
  • Details Of Measuring And Other Instruments (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

EN UN METODO DE CALIBRACION PARA UN ROBOT INDUSTRIAL (2-6), UNA HERRAMIENTA DE CALIBRACION (8) SOPORTADA POR LA MANO DEL ROBOT (6) SE PONE EN CONTACTO CON UN CUERPO DE CALIBRACION ESFERICO (7) CON UN RADIO CONOCIDO. POSTERIORMENTE, LAS SEÑALES DE SALIDA DE LOS TRANSDUCTORES DE POSICIONAMIENTO DE LOS EJES DEL ROBOT SON LEIDAS Y ALMACENADAS. ESTE METODO SE REPITE UNA PLURALIDAD DE VECES CON DIFERENTES CONFIGURACIONES DEL ROBOT. POSTERIORMENTE, LOS PARAMETROS DE CALIBRACION DEL ROBOT SE CALCULAN COMENZANDO A PARTIR DE LAS ECUACIONES CINEMATICAS DEL ROBOT, DE UN MODELO DE RELACIONES ENTRE LA POSICION AXIAL Y LA SEÑAL DEL TRANSDUCTOR DE POSICION, DEL RADIO CONOCIDO DEL CUERPO DE CALIBRACION Y DE LAS SEÑALES TRANSDUCTORES DE POSICION LEIDAS Y ALMACENADAS.
ES94117825T 1993-11-15 1994-11-11 Metodo y dispositivo para el calibrado de movimiento de ejes de un robot industrial. Expired - Lifetime ES2119946T3 (es)

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 (1)

Publication Number Publication Date
ES2119946T3 true ES2119946T3 (es) 1998-10-16

Family

ID=20391744

Family Applications (1)

Application Number Title Priority Date Filing Date
ES94117825T Expired - Lifetime ES2119946T3 (es) 1993-11-15 1994-11-11 Metodo y dispositivo para el calibrado de movimiento de ejes de un robot industrial.

Country Status (6)

Country Link
US (1) US5687293A (es)
EP (1) EP0655301B1 (es)
JP (1) JPH07186073A (es)
DE (1) DE69411130T2 (es)
ES (1) ES2119946T3 (es)
SE (1) SE501867C2 (es)

Families Citing this family (55)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
SE508161C2 (sv) * 1995-03-30 1998-09-07 Asea Brown Boveri Förfarande och anordning för kalibrering av rörelseaxlar hos en industrirobot
US6697748B1 (en) 1995-08-07 2004-02-24 Immersion Corporation Digitizing system and rotary table for determining 3-D geometry of an object
GB9517214D0 (en) * 1995-08-23 1995-10-25 Renishaw Plc Calibration of an articulating probe head for a coordinating positioning machine
US6024576A (en) * 1996-09-06 2000-02-15 Immersion Corporation Hemispherical, high bandwidth mechanical interface for computer systems
US6408252B1 (en) * 1997-08-01 2002-06-18 Dynalog, Inc. Calibration system and displacement measurement device
AU8601398A (en) * 1997-08-01 1999-02-22 Dynalog, Inc. Calibration system and displacement measurement device
US6104382A (en) 1997-10-31 2000-08-15 Immersion Corporation Force feedback transmission mechanisms
US6202031B1 (en) * 1998-04-08 2001-03-13 Mcms, Inc. Method of calibrating an automated placement machine
US6067077A (en) 1998-04-10 2000-05-23 Immersion Corporation Position sensing for force feedback devices
US6580964B2 (en) * 1998-10-24 2003-06-17 Renishaw Plc Calibrations of an analogue probe and error mapping
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
US6199024B1 (en) * 1999-09-07 2001-03-06 Nextel Ltd. Calibration process for shape measurement
US7159008B1 (en) 2000-06-30 2007-01-02 Immersion Corporation Chat interface with haptic feedback functionality
GB0019200D0 (en) * 2000-08-05 2000-09-27 Renishaw Plc Bearing arrangement
US6519860B1 (en) * 2000-10-19 2003-02-18 Sandia Corporation Position feedback control system
JP2003133200A (ja) * 2001-10-19 2003-05-09 Canon Inc シミュレーション装置及びシミュレーション方法
GB0126232D0 (en) * 2001-11-01 2002-01-02 Renishaw Plc Calibration of an analogue probe
US6812665B2 (en) * 2002-04-19 2004-11-02 Abb Ab In-process relative robot workcell calibration
KR100485348B1 (ko) * 2002-07-09 2005-04-27 삼성전자주식회사 로봇의 캘리브레이션 방법
GB2417090A (en) * 2003-04-28 2006-02-15 Stephen James Crampton CMM arm with exoskeleton
JP2005157784A (ja) * 2003-11-26 2005-06-16 Tokyo Denki Univ 小型アーティファクトを用いた運動機構の校正方法
FR2864225B1 (fr) * 2003-12-22 2006-07-21 Commissariat Energie Atomique Procede de mesure du mouvement d'un solide, utilisant une mesure absolue associee a une mesure par double integration
SE0400320D0 (sv) * 2004-02-06 2004-02-06 Abb Ab Control method for robots
WO2006086021A2 (en) * 2004-10-25 2006-08-17 University Of Dayton Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination
WO2007034561A1 (ja) * 2005-09-26 2007-03-29 Toshiaki Shimada 産業用ロボット
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
ATE532610T1 (de) * 2008-04-30 2011-11-15 Abb Technology Ab Verfahren und system zur bestimmung der beziehung zwischen einem roboterkoordinatensystem und einem lokalen koordinatensystem, das im arbeitsbereich des roboters positioniert ist
WO2011113490A1 (en) * 2010-03-18 2011-09-22 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系统和方法
GB201311600D0 (en) * 2013-06-28 2013-08-14 Renishaw Plc Calibration of a contact probe
DE102014100538B4 (de) * 2014-01-17 2022-09-08 Pi4_Robotics Gmbh Verfahren zum Kalibrieren eines Roboters und einer Kamera und System zum Durchführen des Verfahrens
CN103878791B (zh) * 2014-04-12 2016-03-09 福州大学 工业机器人无外部传感器的外力检测方法
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 机器人系统的自动标定方法
US11571807B2 (en) 2016-10-05 2023-02-07 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
CN113365785B (zh) * 2019-02-07 2025-09-16 Abb瑞士股份有限公司 校准工业机器人的工具的方法、控制系统和工业机器人
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
CN115754872A (zh) * 2022-12-09 2023-03-07 法奥意威(苏州)机器人系统有限公司 Tcf自动校准方法、系统、设备和介质
JP7837291B2 (ja) * 2023-02-27 2026-03-30 株式会社日立製作所 計算機システム、ロボットの幾何誤差調整方法、および非一時的コンピュータ可読媒体
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

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3909600A (en) * 1972-06-26 1975-09-30 Cincinnati Milacron Inc Method and apparatus for controlling an automation along a predetermined path
US3920972A (en) * 1974-07-16 1975-11-18 Cincinnati Milacron Inc Method and apparatus for programming a computer operated robot arm
US4362977A (en) * 1980-06-30 1982-12-07 International Business Machines Corporation Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot
JPH0789286B2 (ja) * 1986-02-28 1995-09-27 株式会社日立製作所 多関節マニピユレ−タの作業原点決定方法
SE462022B (sv) * 1986-09-29 1990-04-30 Asea Ab Industrirobotutrustning med organ foer styrning av ett verktyg laengs en bana utmed ett arbetsobjekt
GB8624191D0 (en) * 1986-10-08 1986-11-12 Renishaw Plc Datuming of analogue measurement probes
JPH08384B2 (ja) * 1987-09-16 1996-01-10 ファナック株式会社 ツール先端点の自動設定方式
US4841762A (en) * 1987-10-27 1989-06-27 Automatix Incorporated Symmetry calibration method for multi-configuration robots
US4892457A (en) * 1988-07-11 1990-01-09 Gmf Robotics Corporation Apparatus for mastering a robot
US5056031A (en) * 1988-11-12 1991-10-08 Kabushiki Kaisha Toyota Chuo Kenyusho Apparatus for detecting the collision of moving objects
US5177563A (en) * 1989-02-01 1993-01-05 Texas A&M University System Method and apparatus for locating physical objects
JPH05261682A (ja) * 1991-04-09 1993-10-12 Yaskawa Electric Corp 産業用ロボットのキャリブレーション方式
US5239855A (en) * 1991-07-12 1993-08-31 Hewlett-Packard Company Positional calibration of robotic arm joints relative to the gravity vector
SE501263C2 (sv) * 1991-12-10 1994-12-19 Asea Brown Boveri Förfarande för kalibrering av rörelseaxlar hos en industrirobot

Also Published As

Publication number Publication date
EP0655301A1 (en) 1995-05-31
DE69411130T2 (de) 1999-02-11
EP0655301B1 (en) 1998-06-17
SE501867C2 (sv) 1995-06-12
JPH07186073A (ja) 1995-07-25
SE9303757D0 (sv) 1993-11-15
SE9303757L (sv) 1995-05-16
US5687293A (en) 1997-11-11
DE69411130D1 (de) 1998-07-23

Similar Documents

Publication Publication Date Title
ES2119946T3 (es) Metodo y dispositivo para el calibrado de movimiento de ejes de un robot industrial.
ES2104957T3 (es) Metodo y dispositivo para la calibracion de ejes de movimiento de un robot industrial.
SE9501137D0 (sv) Förfarande och anordning för kalibrering av rörelseaxlar hos en industrirobot
US4715773A (en) Method and apparatus for repositioning a mislocated object with a robot hand
US5155423A (en) Industrial robot with servo
CA1327387C (en) Pulse wave detecting apparatus
ES2132905T3 (es) Dispositivo y procedimiento de calibrado de un robot industrial de ejes multiples.
CA2151481A1 (en) Implant for the intervertebral space
AU621101B2 (en) Auditory prosthesis fitting using vectors
GB1408626A (en) Ultrasonic transducer assemblies
CA2121649A1 (en) Apparatus for Controlling Peripheral Devices Through Tongue Movement, and Method of Processing Control Signals
JPS6448443A (en) System and method for detecting center of integrated circuit wafer
AU3295589A (en) Articulated device, for use in particular in the field of robotics
DE68918082D1 (de) Direkt wirkender betätiger eines industriellen roboters.
AU1267499A (en) An apparatus for performing an animal related operation
Charles et al. Design of a surgeon-machine interface for teleoperated microsurgery
AU4161200A (en) Equipment for controlling an industrial robot and a method for programming and/or adjusting the movements of the robot
EP0985989A3 (de) Verfahren und Einrichtung zum Verbessern des dynamischen Verhaltens eines Roboters
EP0312119A3 (en) Three-dimensional measuring robot
EP0365736A3 (en) Device for tracking and recording the position reached by a moving part, in particular for industrial-robot control
AU2001286631A1 (en) Method of manufacturing custom intravascular devices
ATE149903T1 (de) Industrieroboter
AU5543000A (en) Method and apparatus for calibrating visual guided robot
Wang et al. A kind of soft pneumatic actuator based on multi-material 3D print technology
EP0108569A1 (en) Robot wrist and arm

Legal Events

Date Code Title Description
FG2A Definitive protection

Ref document number: 655301

Country of ref document: ES