SE524818C2 - En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt - Google Patents

En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt

Info

Publication number
SE524818C2
SE524818C2 SE0300409A SE0300409A SE524818C2 SE 524818 C2 SE524818 C2 SE 524818C2 SE 0300409 A SE0300409 A SE 0300409A SE 0300409 A SE0300409 A SE 0300409A SE 524818 C2 SE524818 C2 SE 524818C2
Authority
SE
Sweden
Prior art keywords
robot
measuring
points
geometric model
measuring points
Prior art date
Application number
SE0300409A
Other languages
English (en)
Swedish (sv)
Other versions
SE0300409L (sv
SE0300409D0 (sv
Inventor
Torgny Brogaardh
Original Assignee
Abb 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 Abb Ab filed Critical Abb Ab
Priority to SE0300409A priority Critical patent/SE524818C2/sv
Publication of SE0300409D0 publication Critical patent/SE0300409D0/xx
Priority to AT03781231T priority patent/ATE412495T1/de
Priority to DE60324472T priority patent/DE60324472D1/de
Priority to CNB2003801097057A priority patent/CN100357071C/zh
Priority to EP03781231A priority patent/EP1592536B1/de
Priority to AU2003289695A priority patent/AU2003289695A1/en
Priority to US10/542,007 priority patent/US7272524B2/en
Priority to PCT/SE2003/002003 priority patent/WO2004071717A1/en
Publication of SE0300409L publication Critical patent/SE0300409L/xx
Publication of SE524818C2 publication Critical patent/SE524818C2/sv

Links

Classifications

    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • G05B19/408—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 data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting program, configuration
    • 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
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34135—Spline
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36504—Adapt program to real coordinates, shape, dimension of tool, offset path
    • 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
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • 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
    • G05B2219/40581—Touch sensing, arc sensing
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
SE0300409A 2003-02-13 2003-02-13 En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt SE524818C2 (sv)

Priority Applications (8)

Application Number Priority Date Filing Date Title
SE0300409A SE524818C2 (sv) 2003-02-13 2003-02-13 En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt
AT03781231T ATE412495T1 (de) 2003-02-13 2003-12-17 Verfahren und system zur programmierung eines industrieroboterszu einer bewegung bezüglich definierter positionen an einem objekt, einschliesslichder erzeugung eines oberflächenabtastprogramms
DE60324472T DE60324472D1 (de) 2003-02-13 2003-12-17 Verfahren und system zur programmierung eines industrieroboterszu einer bewegung bezüglich definierter positionen an einem objekt, einschliesslichder erzeugung eines oberflächenabtastprogramms
CNB2003801097057A CN100357071C (zh) 2003-02-13 2003-12-17 对工业机器人编程以相对于对象上的限定位置移动、包括表面扫描程序生成的方法和系统
EP03781231A EP1592536B1 (de) 2003-02-13 2003-12-17 Verfahren und system zur programmierung eines industrieroboterszu einer bewegung bezüglich definierter positionen an einem objekt, einschliesslichder erzeugung eines oberflächenabtastprogramms
AU2003289695A AU2003289695A1 (en) 2003-02-13 2003-12-17 A method and a system for programming an industrial robot to move relative to defined positions on an object, including generation of a surface scanning program
US10/542,007 US7272524B2 (en) 2003-02-13 2003-12-17 Method and a system for programming an industrial robot to move relative to defined positions on an object, including generation of a surface scanning program
PCT/SE2003/002003 WO2004071717A1 (en) 2003-02-13 2003-12-17 A method and a system for programming an industrial robot to move relative to defined positions on an object, including generation of a surface scanning program

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0300409A SE524818C2 (sv) 2003-02-13 2003-02-13 En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt

Publications (3)

Publication Number Publication Date
SE0300409D0 SE0300409D0 (sv) 2003-02-13
SE0300409L SE0300409L (sv) 2004-08-14
SE524818C2 true SE524818C2 (sv) 2004-10-05

Family

ID=20290412

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0300409A SE524818C2 (sv) 2003-02-13 2003-02-13 En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt

Country Status (8)

Country Link
US (1) US7272524B2 (de)
EP (1) EP1592536B1 (de)
CN (1) CN100357071C (de)
AT (1) ATE412495T1 (de)
AU (1) AU2003289695A1 (de)
DE (1) DE60324472D1 (de)
SE (1) SE524818C2 (de)
WO (1) WO2004071717A1 (de)

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* Cited by examiner, † Cited by third party
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EP1592536B1 (de) 2008-10-29
CN100357071C (zh) 2007-12-26
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CN1747816A (zh) 2006-03-15
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