JPS648408A - Method for matching coordinate system - Google Patents

Method for matching coordinate system

Info

Publication number
JPS648408A
JPS648408A JP16235987A JP16235987A JPS648408A JP S648408 A JPS648408 A JP S648408A JP 16235987 A JP16235987 A JP 16235987A JP 16235987 A JP16235987 A JP 16235987A JP S648408 A JPS648408 A JP S648408A
Authority
JP
Japan
Prior art keywords
transformation
coordinate
zetab
zetaa
coordinate system
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.)
Granted
Application number
JP16235987A
Other languages
Japanese (ja)
Other versions
JP2718678B2 (en
Inventor
Norihisa Miyake
Maki Sumita
Yuko Okada
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.)
Hitachi Ltd
Hitachi KE Systems Ltd
Original Assignee
Hitachi Ltd
Hitachi Keiyo Engineering Co Ltd
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 Hitachi Ltd, Hitachi Keiyo Engineering Co Ltd filed Critical Hitachi Ltd
Priority to JP16235987A priority Critical patent/JP2718678B2/en
Publication of JPS648408A publication Critical patent/JPS648408A/en
Application granted granted Critical
Publication of JP2718678B2 publication Critical patent/JP2718678B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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  • Numerical Control (AREA)

Abstract

PURPOSE:To attain a transformation between coordinate systems including an error generated between non-linearity essentially included in respective apparatuses and a calculation model by defining transformation in respective coordinate systems inherent in respective apparatuses constituting a system by means of specific homogeneous coordinate transformation matrixes. CONSTITUTION:Expressions based upon the coordinate systems ZETAA, ZETAB of reference points P1-P3 corresponding to a liner coordinate system and a curuilinear coordinate system of two object apparatuses, e.g., a sensor for monitoring a robot and the robot generating deflection from its arm, at the rate of 1 to 1 are arranged in the same order to form the homogeneous coordinate transformation matrixes XA, XB. When the transformation from the coordinate system ZETAA to the system ZETAB and reverse transformation from the system ZETAB to the system ZETAA are executed by means of equations I, II, it can be executed rapidly by using the transformation matrixes that can determine easily and accurately the inter-coordinate transformation including an error between non- linearity essentially included in respective apparatuses and the calculation model.
JP16235987A 1987-07-01 1987-07-01 Coordinate system alignment method Expired - Fee Related JP2718678B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP16235987A JP2718678B2 (en) 1987-07-01 1987-07-01 Coordinate system alignment method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16235987A JP2718678B2 (en) 1987-07-01 1987-07-01 Coordinate system alignment method

Publications (2)

Publication Number Publication Date
JPS648408A true JPS648408A (en) 1989-01-12
JP2718678B2 JP2718678B2 (en) 1998-02-25

Family

ID=15753067

Family Applications (1)

Application Number Title Priority Date Filing Date
JP16235987A Expired - Fee Related JP2718678B2 (en) 1987-07-01 1987-07-01 Coordinate system alignment method

Country Status (1)

Country Link
JP (1) JP2718678B2 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02202606A (en) * 1989-02-01 1990-08-10 Hitachi Ltd Method and device for controlling industrial robot
JPH02271405A (en) * 1989-04-12 1990-11-06 Yaskawa Electric Mfg Co Ltd Controlling method for robot
JP2003533810A (en) * 2000-05-16 2003-11-11 ブリガム・ヤング・ユニバーシティ Machine tool control method and system using direct transfer of machining data
CN111210480A (en) * 2020-01-06 2020-05-29 中国农业大学 Binocular precision detection method, system, equipment and storage medium
CN113909762A (en) * 2020-07-09 2022-01-11 配天机器人技术有限公司 Determination method of welding seam offset position, welding method and related device
CN114750160A (en) * 2022-05-16 2022-07-15 深圳市大族机器人有限公司 Robot control method, robot control device, computer equipment and storage medium
CN115026463A (en) * 2022-05-16 2022-09-09 广州数控设备有限公司 A multi-robot cooperative welding system and method based on vision sensor
CN120505753A (en) * 2025-05-21 2025-08-19 浙江万维机械有限公司 Stitch control method of sewing machine

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02202606A (en) * 1989-02-01 1990-08-10 Hitachi Ltd Method and device for controlling industrial robot
JPH02271405A (en) * 1989-04-12 1990-11-06 Yaskawa Electric Mfg Co Ltd Controlling method for robot
JP2003533810A (en) * 2000-05-16 2003-11-11 ブリガム・ヤング・ユニバーシティ Machine tool control method and system using direct transfer of machining data
CN111210480A (en) * 2020-01-06 2020-05-29 中国农业大学 Binocular precision detection method, system, equipment and storage medium
CN111210480B (en) * 2020-01-06 2023-08-22 中国农业大学 Binocular precision detection method, binocular precision detection system, binocular precision detection equipment and storage medium
CN113909762A (en) * 2020-07-09 2022-01-11 配天机器人技术有限公司 Determination method of welding seam offset position, welding method and related device
CN114750160A (en) * 2022-05-16 2022-07-15 深圳市大族机器人有限公司 Robot control method, robot control device, computer equipment and storage medium
CN115026463A (en) * 2022-05-16 2022-09-09 广州数控设备有限公司 A multi-robot cooperative welding system and method based on vision sensor
CN120505753A (en) * 2025-05-21 2025-08-19 浙江万维机械有限公司 Stitch control method of sewing machine

Also Published As

Publication number Publication date
JP2718678B2 (en) 1998-02-25

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