WO1999060452A3 - Steuerverfahren für einen industrieroboter - Google Patents

Steuerverfahren für einen industrieroboter Download PDF

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Publication number
WO1999060452A3
WO1999060452A3 PCT/DE1999/001468 DE9901468W WO9960452A3 WO 1999060452 A3 WO1999060452 A3 WO 1999060452A3 DE 9901468 W DE9901468 W DE 9901468W WO 9960452 A3 WO9960452 A3 WO 9960452A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
industrial robot
control method
measuring points
reference measuring
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.)
Ceased
Application number
PCT/DE1999/001468
Other languages
English (en)
French (fr)
Other versions
WO1999060452A2 (de
Inventor
Ralf-Gunter Graeser
Robert Klingel
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.)
INSTITUT fur WERKZEUGMASCHINEN und BETRIEBSWISSENSCHAFTEN
GRAESER RALF GUNTER
INST WERKZEUGMASCHINEN und BET
Original Assignee
INSTITUT fur WERKZEUGMASCHINEN und BETRIEBSWISSENSCHAFTEN
GRAESER RALF GUNTER
INST WERKZEUGMASCHINEN und BET
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=WO1999060452(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority to DE19980910T priority Critical patent/DE19980910D2/de
Application filed by INSTITUT fur WERKZEUGMASCHINEN und BETRIEBSWISSENSCHAFTEN, GRAESER RALF GUNTER, INST WERKZEUGMASCHINEN und BET filed Critical INSTITUT fur WERKZEUGMASCHINEN und BETRIEBSWISSENSCHAFTEN
Priority to MXPA00011163A priority patent/MXPA00011163A/es
Priority to HU0101865A priority patent/HUP0101865A3/hu
Priority to BR9910461-0A priority patent/BR9910461A/pt
Priority to AU51476/99A priority patent/AU5147699A/en
Priority to PL99344784A priority patent/PL344784A1/xx
Priority to JP2000550006A priority patent/JP2002516424A/ja
Priority to US09/700,438 priority patent/US6345213B1/en
Priority to AT99936254T priority patent/ATE251770T1/de
Priority to EP99936254A priority patent/EP1086407B1/de
Publication of WO1999060452A2 publication Critical patent/WO1999060452A2/de
Publication of WO1999060452A3 publication Critical patent/WO1999060452A3/de
Anticipated expiration legal-status Critical
Ceased 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
    • G05B2219/39008—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)
  • Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Abstract

Die Erfindung betrifft ein Verfahren zur Steuerung eines Industrieroboters und insbesondere ein Verfahren zur Verringerung thermischer Einflußgrößen, wobei im Arbeitsraum des Roboters Referenzmeßpunkte angeordnet sind, die von dem Roboter angefahren werden, wobei die aktuellen Daten der Referenzmeßpunkte von einem Rechner verarbeitet werden, um Korrekturdaten zu gewinnen, die der Steuerelektronik des Roboters zugeführt werden. Erfindungsgemäß wird ein Fehlermodell erstellt, das die thermischen Positionier- und/oder Orientierungsfehler korrigiert, ohne daß am Roboter die aktuelle Temperatur bestimmt werden muß.
PCT/DE1999/001468 1998-05-15 1999-05-14 Steuerverfahren für einen industrieroboter Ceased WO1999060452A2 (de)

Priority Applications (10)

Application Number Priority Date Filing Date Title
JP2000550006A JP2002516424A (ja) 1998-05-15 1999-05-14 産業用ロボットの制御方法
PL99344784A PL344784A1 (en) 1998-05-15 1999-05-14 Control method for an industrial robot
MXPA00011163A MXPA00011163A (es) 1998-05-15 1999-05-14 Metodo de control para un robot industrial.
HU0101865A HUP0101865A3 (en) 1998-05-15 1999-05-14 Control method for an industrial robot
BR9910461-0A BR9910461A (pt) 1998-05-15 1999-05-14 Processo de controle para um robÈ
AU51476/99A AU5147699A (en) 1998-05-15 1999-05-14 Control method for an industrial robot
US09/700,438 US6345213B1 (en) 1998-05-15 1999-05-14 Control method for an industrial robot
DE19980910T DE19980910D2 (de) 1998-05-15 1999-05-14 Steuerverfahren für einen Industrieroboter
EP99936254A EP1086407B1 (de) 1998-05-15 1999-05-14 Steuerverfahren für einen industrieroboter
AT99936254T ATE251770T1 (de) 1998-05-15 1999-05-14 Steuerverfahren für einen industrieroboter

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19821873.7 1998-05-15
DE19821873A DE19821873C2 (de) 1998-05-15 1998-05-15 Verfahren zum Verringern des Einflusses von Temperaturänderungen auf Industrieroboter

Publications (2)

Publication Number Publication Date
WO1999060452A2 WO1999060452A2 (de) 1999-11-25
WO1999060452A3 true WO1999060452A3 (de) 1999-12-29

Family

ID=7867914

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1999/001468 Ceased WO1999060452A2 (de) 1998-05-15 1999-05-14 Steuerverfahren für einen industrieroboter

Country Status (14)

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

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DE19854011A1 (de) * 1998-11-12 2000-05-25 Knoll Alois Einrichtung und Verfahren zum Vermessen von Mechanismen und ihrer Stellung
DE50002092D1 (de) 1999-06-26 2003-06-12 Kuka Schweissanlagen Gmbh Verfahren und vorrichtung zum kalibrieren von robotermessstationen, manipulatoren und mitgeführten optischen messeinrichtungen
DE19931676C2 (de) * 1999-07-08 2002-07-11 Kuka Schweissanlagen Gmbh Verfahren zum Vermessen von Werkstücken und Bearbeitungsstation
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
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
DE10164944B4 (de) * 2001-10-15 2013-03-28 Hermann, Dr.-Ing. Tropf 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
EP3294503B1 (de) 2015-05-13 2020-01-29 Shaper Tools, Inc. Systeme, verfahren und vorrichtung für geführte werkzeuge
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
DE102015211406A1 (de) * 2015-06-22 2016-12-22 Kuka Roboter Gmbh Verbesserung der Temperaturdriftkompensation durch Einlernen der Restdrift
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
WO2019183141A1 (en) * 2018-03-21 2019-09-26 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
US12194639B2 (en) 2020-03-18 2025-01-14 Realtime Robotics, Inc. Digital representations of robot operational environment, useful in motion planning for robots
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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Also Published As

Publication number Publication date
ES2207265T3 (es) 2004-05-16
TR200003375T2 (tr) 2001-05-21
US6345213B1 (en) 2002-02-05
HUP0101865A3 (en) 2003-08-28
JP2002516424A (ja) 2002-06-04
PL344784A1 (en) 2001-11-19
DE19821873A1 (de) 1999-11-25
ATE251770T1 (de) 2003-10-15
BR9910461A (pt) 2001-01-02
MXPA00011163A (es) 2003-04-22
HUP0101865A2 (hu) 2001-09-28
AU5147699A (en) 1999-12-06
WO1999060452A2 (de) 1999-11-25
PT1086407E (pt) 2004-03-31
DE19980910D2 (de) 2001-06-28
EP1086407A2 (de) 2001-03-28
EP1086407B1 (de) 2003-10-08
DE19821873C2 (de) 2000-07-13

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