SE501867C2 - Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp - Google Patents

Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp

Info

Publication number
SE501867C2
SE501867C2 SE9303757A SE9303757A SE501867C2 SE 501867 C2 SE501867 C2 SE 501867C2 SE 9303757 A SE9303757 A SE 9303757A SE 9303757 A SE9303757 A SE 9303757A SE 501867 C2 SE501867 C2 SE 501867C2
Authority
SE
Sweden
Prior art keywords
calibration
robot
tool
calibration body
position sensor
Prior art date
Application number
SE9303757A
Other languages
English (en)
Swedish (sv)
Other versions
SE9303757D0 (sv
SE9303757L (sv
Inventor
John-Erik Snell
Original Assignee
Asea Brown Boveri
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 filed Critical Asea Brown Boveri
Priority to SE9303757A priority Critical patent/SE501867C2/sv
Publication of SE9303757D0 publication Critical patent/SE9303757D0/xx
Priority to US08/328,447 priority patent/US5687293A/en
Priority to EP94117825A priority patent/EP0655301B1/en
Priority to ES94117825T priority patent/ES2119946T3/es
Priority to DE69411130T priority patent/DE69411130T2/de
Priority to JP6279380A priority patent/JPH07186073A/ja
Publication of SE9303757L publication Critical patent/SE9303757L/xx
Publication of SE501867C2 publication Critical patent/SE501867C2/sv

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)
SE9303757A 1993-11-15 1993-11-15 Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp SE501867C2 (sv)

Priority Applications (6)

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
US08/328,447 US5687293A (en) 1993-11-15 1994-10-25 Method and device for calibration of movement axes of an industrial robot
EP94117825A EP0655301B1 (en) 1993-11-15 1994-11-11 Method and device for calibration of movement axes of an industrial robot
ES94117825T ES2119946T3 (es) 1993-11-15 1994-11-11 Metodo y dispositivo para el calibrado de movimiento de ejes de un robot industrial.
DE69411130T DE69411130T2 (de) 1993-11-15 1994-11-11 Verfahren und Vorrichtung zum Eichen der Bewegungsachsen eines Industrierobotors
JP6279380A JPH07186073A (ja) 1993-11-15 1994-11-14 工業用ロボットの較正方法および工業用ロボット装置

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 (3)

Publication Number Publication Date
SE9303757D0 SE9303757D0 (sv) 1993-11-15
SE9303757L SE9303757L (sv) 1995-05-16
SE501867C2 true SE501867C2 (sv) 1995-06-12

Family

ID=20391744

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9303757A SE501867C2 (sv) 1993-11-15 1993-11-15 Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp

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)

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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
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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
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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
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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
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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
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Also Published As

Publication number Publication date
EP0655301A1 (en) 1995-05-31
DE69411130T2 (de) 1999-02-11
EP0655301B1 (en) 1998-06-17
JPH07186073A (ja) 1995-07-25
ES2119946T3 (es) 1998-10-16
SE9303757D0 (sv) 1993-11-15
SE9303757L (sv) 1995-05-16
US5687293A (en) 1997-11-11
DE69411130D1 (de) 1998-07-23

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