WO2006086021A3 - Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination - Google Patents

Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination Download PDF

Info

Publication number
WO2006086021A3
WO2006086021A3 PCT/US2005/038359 US2005038359W WO2006086021A3 WO 2006086021 A3 WO2006086021 A3 WO 2006086021A3 US 2005038359 W US2005038359 W US 2005038359W WO 2006086021 A3 WO2006086021 A3 WO 2006086021A3
Authority
WO
WIPO (PCT)
Prior art keywords
model parameters
present
robot
provide improved
robot model
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/US2005/038359
Other languages
French (fr)
Other versions
WO2006086021A2 (en
Inventor
Wally C Hoppe
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.)
University of Dayton
Original Assignee
University of Dayton
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 University of Dayton filed Critical University of Dayton
Priority to US11/666,187 priority Critical patent/US7904202B2/en
Priority to DE602005008271T priority patent/DE602005008271D1/en
Priority to EP05856925A priority patent/EP1809446B1/en
Priority to JP2007539038A priority patent/JP2008522836A/en
Publication of WO2006086021A2 publication Critical patent/WO2006086021A2/en
Publication of WO2006086021A3 publication Critical patent/WO2006086021A3/en
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
    • G05B2219/37—Measurements
    • G05B2219/37123—Extensible ball bar with potentiometer, lvdt
    • 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
    • G05B2219/39022—Transform between measuring and manipulator coordinate system
    • 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
    • G05B2219/40527—Modeling, identification of link parameters

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

A method and system to provide improved accuracies in multi jointed robots through kinematic robot model parameters determination are disclosed. The present invention calibrates multi-jointed robots by using the chain rule for differentiation in the Jacobian derivation for variations in calculated poses of reference points of a reference object as a function of variations in robot model parameters. The present invention also uses two such reference objects and the known distance therebetween to establish a length scale, thus avoiding the need to know one link length of the robot. In addition, the present invention makes use of iterative methods to find the optimum solution for improved accuracy of the resultant model parameters. Furthermore, the present invention provides for determination of the end joint parameters of the robot, including parameters defining the tool attachment mechanism frame, which allows for interchange of tools without subsequent calibration.
PCT/US2005/038359 2004-10-25 2005-10-25 Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination Ceased WO2006086021A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US11/666,187 US7904202B2 (en) 2004-10-25 2005-10-25 Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination
DE602005008271T DE602005008271D1 (en) 2004-10-25 2005-10-25 METHOD AND SYSTEM FOR ENHANCING INCREASED ACCURACY IN MULTI-LINKED ROBOTS BY CALCULATING THE KINEMATIC ROBOT MODEL PARAMETERS
EP05856925A EP1809446B1 (en) 2004-10-25 2005-10-25 Method and system to provide imporved accuracies in multi-jointed robots through kinematic robot model parameters determination
JP2007539038A JP2008522836A (en) 2004-10-25 2005-10-25 Method and system for providing improved accuracy in articulated robots by kinematic robot model parameter determination

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US62183804P 2004-10-25 2004-10-25
US60/621,838 2004-10-25

Publications (2)

Publication Number Publication Date
WO2006086021A2 WO2006086021A2 (en) 2006-08-17
WO2006086021A3 true WO2006086021A3 (en) 2007-03-15

Family

ID=36793528

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2005/038359 Ceased WO2006086021A2 (en) 2004-10-25 2005-10-25 Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination

Country Status (6)

Country Link
US (1) US7904202B2 (en)
EP (1) EP1809446B1 (en)
JP (1) JP2008522836A (en)
AT (1) ATE401170T1 (en)
DE (1) DE602005008271D1 (en)
WO (1) WO2006086021A2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107924174A (en) * 2015-07-23 2018-04-17 X开发有限责任公司 system and method for determining tool offset
CN108406771A (en) * 2018-03-09 2018-08-17 江南大学 A kind of plane restriction error model and robot self-calibrating method
CN110000779B (en) * 2019-03-25 2021-09-28 上海科技大学 Fault-tolerant self-correcting industrial robot arm control method based on two-dimensional code

Families Citing this family (139)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
CN104688349B (en) 2006-06-13 2017-05-10 直观外科手术操作公司 Minimally invasive surgical system
US10258425B2 (en) * 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US12357400B2 (en) 2006-06-29 2025-07-15 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
SE530573C2 (en) * 2006-11-16 2008-07-08 Hexagon Metrology Ab Method and apparatus for compensating geometric errors in processing machines
JP4298757B2 (en) * 2007-02-05 2009-07-22 ファナック株式会社 Robot mechanism calibration apparatus and method
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9089256B2 (en) * 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US8903546B2 (en) * 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US8457790B2 (en) * 2007-09-14 2013-06-04 Zimmer, Inc. Robotic calibration method
WO2009059323A1 (en) * 2007-11-01 2009-05-07 Rimrock Automation, Inc. Dba Wolf Robotics A method and system for finding a tool center point for a robot using an external camera
KR20090064308A (en) * 2007-12-14 2009-06-18 현대자동차주식회사 Human Body Model for Seat Convenience Evaluation
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
US12239396B2 (en) 2008-06-27 2025-03-04 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
DE102008063680A1 (en) * 2008-10-10 2010-04-15 Abb Ag Method for teaching (teaching) an industrial robot and a correspondingly equipped industrial robot
FR2938648B1 (en) * 2008-11-17 2012-03-16 Eads Europ Aeronautic Defence METHOD FOR EVALUATING THE AGING OF AN ELECTRONIC ASSEMBLY
JP5083194B2 (en) * 2008-12-18 2012-11-28 株式会社デンソーウェーブ Robot calibration method and robot control apparatus
US12266040B2 (en) 2009-03-31 2025-04-01 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US8888789B2 (en) 2009-09-23 2014-11-18 Intuitive Surgical Operations, Inc. Curved cannula surgical system control
US8465476B2 (en) 2009-09-23 2013-06-18 Intuitive Surgical Operations, Inc. Cannula mounting fixture
US8623028B2 (en) 2009-09-23 2014-01-07 Intuitive Surgical Operations, Inc. Surgical port feature
US20110071541A1 (en) 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Curved cannula
US8545515B2 (en) 2009-09-23 2013-10-01 Intuitive Surgical Operations, Inc. Curved cannula surgical system
KR20110041950A (en) * 2009-10-16 2011-04-22 삼성전자주식회사 Teaching and Reproducing Method of Robot Using Freedom of Freedom Control
JP5321532B2 (en) * 2010-04-28 2013-10-23 株式会社安川電機 Robot calibration apparatus and calibration method
DE102011052386B8 (en) * 2010-08-03 2016-10-06 Denso Wave Inc. Method and device for calibrating an origin position of an articulated arm robot
EP2453325A1 (en) 2010-11-16 2012-05-16 Universal Robots ApS Method and means for controlling a robot
CN102566577B (en) * 2010-12-29 2014-01-29 沈阳新松机器人自动化股份有限公司 Method for simply and easily calibrating industrial robot
DE102012102294B4 (en) * 2011-03-18 2015-03-19 Denso Wave Inc. Method of detecting a pitch offset of a 6-axis robot
JP5744587B2 (en) * 2011-03-24 2015-07-08 キヤノン株式会社 Robot control apparatus, robot control method, program, and recording medium
US20150127154A1 (en) * 2011-06-02 2015-05-07 Brain Corporation Reduced degree of freedom robotic controller apparatus and methods
WO2013045314A1 (en) 2011-09-28 2013-04-04 Universal Robots A/S Calibration and programming of robots
CN103857851B (en) * 2011-10-19 2016-03-09 住友重机械工业株式会社 The control method of revolution Work machine and revolution Work machine
US10319133B1 (en) * 2011-11-13 2019-06-11 Pixar Posing animation hierarchies with dynamic posing roots
US9784554B2 (en) * 2012-03-20 2017-10-10 Hurco Companies, Inc. Method for measuring a rotary axis of a machine tool system
US10383765B2 (en) * 2012-04-24 2019-08-20 Auris Health, Inc. Apparatus and method for a global coordinate system for use in robotic surgery
DE102012208252A1 (en) * 2012-05-16 2013-07-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Method for performing highly accurate positioning of guide tool of robot, involves calculating deviation between desired and actual positions of guide tools of robot arms using virtual mechanical model of plant including robots
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
WO2014201165A1 (en) 2013-06-11 2014-12-18 Auris Surgical Robotics, Inc. System for robotic assisted cataract surgery
CN104827480A (en) * 2014-02-11 2015-08-12 泰科电子(上海)有限公司 Automatic calibration method of robot system
MX363591B (en) 2014-03-04 2019-03-28 Universal Robots As Safety system for industrial robot.
TW201600275A (en) * 2014-06-26 2016-01-01 Hiwin Tech Corp Robotic arm system and parallelism calibration method thereof
US10195746B2 (en) 2014-09-26 2019-02-05 Teradyne, Inc. Grasping gripper
US20160184996A1 (en) * 2014-12-24 2016-06-30 Seiko Epson Corporation Robot, robot system, control apparatus, and control method
US9880544B2 (en) * 2015-05-01 2018-01-30 The Boeing Company Locating a workpiece using a measurement of a workpiece feature
US9718192B2 (en) * 2015-06-24 2017-08-01 National Taipei University Of Technology System for automatically and precisely positioning robotic arm and method thereof
CA2991244C (en) 2015-07-08 2023-12-19 Universal Robots A/S Method for extending end user programming of an industrial robot with third party contributions
US9844872B1 (en) 2015-07-13 2017-12-19 X Development Llc Determining sensor parameters and model parameters of a robot
JP5892531B1 (en) * 2015-11-16 2016-03-23 プレンプロジェクト・ホールディングス有限会社 Link string mapping device, link string mapping method, and program
CN106945034B (en) * 2016-01-07 2021-09-03 鸿富锦精密电子(郑州)有限公司 Robot point location adjusting method and system
WO2017128284A1 (en) * 2016-01-29 2017-08-03 Abb Schweiz Ag Method for calibrating touchscreen panel with industrial robot and system, industrial robot and touchscreen using the same
US11192243B2 (en) 2016-03-29 2021-12-07 Cognibotics Ab Method, constraining device and system for determining geometric properties of a manipulator
US11267125B2 (en) * 2016-04-08 2022-03-08 Delta Electronics, Inc. Mechanism-parameter-calibration method for robotic arm system
TWI805545B (en) 2016-04-12 2023-06-21 丹麥商環球機器人公司 Method and computer program product for programming a robot by demonstration
JP6487385B2 (en) * 2016-07-20 2019-03-20 ファナック株式会社 Robot origin position calibration apparatus and method
JP6386501B2 (en) * 2016-08-12 2018-09-05 ファナック株式会社 Laser processing robot system and laser processing method
WO2018052795A1 (en) 2016-09-19 2018-03-22 Intuitive Surgical Operations, Inc. Base positioning system for a controllable arm and related methods
CN106546168B (en) * 2016-09-29 2019-07-05 上海航天精密机械研究所 One-axis laser scanning machine people's method for precisely marking based on ball fitting
FR3063667B1 (en) * 2017-03-13 2019-04-19 Staubli Faverges METHOD FOR CONTROLLING AN AUTOMATED WORKING CELL
CN110545747A (en) * 2017-04-24 2019-12-06 思想外科有限公司 Method of magnetically coupling and calibrating a robotic system
WO2018199947A1 (en) 2017-04-26 2018-11-01 Hewlett-Packard Development Company, L.P. Robotic structure calibrations
KR102474838B1 (en) * 2017-08-21 2022-12-07 주식회사 한화 Apparatus, method and system for teaching robot
JP6568172B2 (en) * 2017-09-22 2019-08-28 ファナック株式会社 ROBOT CONTROL DEVICE, MEASUREMENT SYSTEM, AND CALIBRATION METHOD FOR CALIBRATION
TWI668541B (en) * 2017-09-29 2019-08-11 財團法人工業技術研究院 System and method for calibrating tool center point of robot
TWI822729B (en) 2018-02-06 2023-11-21 美商即時機器人股份有限公司 Method and apparatus for motion planning of a robot storing a discretized environment on one or more processors and improved operation of same
CN108527441B (en) * 2018-03-05 2024-02-13 中国计量大学 A device for detecting trajectory errors of industrial robots
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
JP6823024B2 (en) 2018-09-11 2021-01-27 ファナック株式会社 Robot calibration system and calibration method
EP3639983A1 (en) * 2018-10-18 2020-04-22 Technische Universität München Anti-collision safety measures for a reconfigurable modular robot
CN109760049B (en) * 2018-12-28 2020-12-25 深圳市越疆科技有限公司 Mechanical arm calibration method and device and mechanical arm
CN109738213B (en) * 2019-02-03 2020-10-02 北京新联铁集团股份有限公司 Rail transit rolling stock inspection pose detection system and method
CN113365785B (en) * 2019-02-07 2025-09-16 Abb瑞士股份有限公司 Method for calibrating tool of industrial robot, control system and industrial robot
JP7000368B2 (en) * 2019-02-08 2022-01-19 ファナック株式会社 Robot calibration method and robot calibration device
WO2020161880A1 (en) * 2019-02-08 2020-08-13 日本電気株式会社 Motion model calculation device, control device, joint mechanism, motion model calculation method, and recording medium storing program
US11279032B2 (en) * 2019-04-11 2022-03-22 Applied Materials, Inc. Apparatus, systems, and methods for improved joint coordinate teaching accuracy of robots
TWI873149B (en) 2019-06-24 2025-02-21 美商即時機器人股份有限公司 Motion planning system and method for multiple robots in shared workspace
CN110524577B (en) * 2019-08-12 2021-03-02 珠海格力智能装备有限公司 Method and device for measuring moment rigidity of robot joint
US12384019B2 (en) 2019-10-22 2025-08-12 Universal Robots A/S Safe activation of free-drive mode of robot arm
DK180508B1 (en) 2019-10-22 2021-06-03 Universal Robots As Maintaining free-drive mode of robot arm for period of time
CN114599489B (en) 2019-10-22 2026-04-10 优傲机器人公司 A robotic arm with adaptive 3D boundaries that is in a state of automatic drive.
CN110726362B (en) * 2019-11-14 2024-08-20 昆明理工大学 A displacement measurement device, error temperature compensation system and method
DE102019132552A1 (en) 2019-11-29 2021-06-02 Samson Aktiengesellschaft Measuring channel and method for the spatial arrangement of a sensor component or sensor cluster in a measuring channel
CN112902898B (en) 2019-12-03 2022-11-29 台达电子工业股份有限公司 Three-dimensional measuring device and applicable mechanical arm correction method
US11370114B2 (en) * 2019-12-09 2022-06-28 Applied Materials, Inc. Autoteach enclosure system
CN113001535B (en) * 2019-12-18 2022-11-15 财团法人工业技术研究院 Automatic correction system and method for robot workpiece coordinate system
JP2023518071A (en) 2020-03-18 2023-04-27 リアルタイム ロボティクス， インコーポレーテッド Digital Representation of Robot Operation Environment Useful for Robot Motion Planning
CN111496783B (en) * 2020-03-26 2022-04-15 天津大学 A solution method of inverse kinematics for 6R industrial robot
CN111360836B (en) * 2020-04-02 2021-04-09 易思维（杭州）科技有限公司 Robot calibration method for optimizing identification parameters
WO2021211420A1 (en) 2020-04-14 2021-10-21 Realtime Robotics, Inc. Configuration of robot operational environment including layout of sensors
CN113799114B (en) 2020-06-11 2023-03-14 台达电子工业股份有限公司 The origin correction method of the robot arm
TWI746004B (en) * 2020-06-11 2021-11-11 台達電子工業股份有限公司 Origin calibration method of manipulator
EP4214025A4 (en) * 2020-09-17 2024-06-05 Abb Schweiz Ag METHOD AND DEVICE FOR MANAGING A ROBOT PATH
CN116194852A (en) 2020-10-09 2023-05-30 优傲机器人公司 Multifunctional input device for robotic arm
CN112507474B (en) * 2020-10-29 2023-07-14 北京控制工程研究所 An Accuracy Analysis Method for Parallel Vector Adjustment Mechanism with Two Degrees of Freedom in Space
CN112754616B (en) * 2020-12-30 2022-05-10 诺创智能医疗科技(杭州)有限公司 Ultrasonic positioning puncture system and storage medium
CN112818481B (en) * 2021-01-19 2023-11-07 中国科学院沈阳自动化研究所 Modeling and control method of slender soft robot with elastic plane constraints
CN112792818B (en) * 2021-02-03 2024-01-26 深圳市冠运智控科技有限公司 A visual alignment method that quickly guides a manipulator to grab a target
US12415273B2 (en) 2021-03-12 2025-09-16 University Of South Florida Control of robotic arms through hybrid inverse kinematics and intuitive reference frame
CN113319863B (en) * 2021-05-11 2023-06-16 华中科技大学 Workpiece clamping pose optimization method and system for robot grinding and polishing machining of blisk
CN113211500B (en) * 2021-05-25 2023-01-06 上海睿触科技有限公司 Method for obtaining the installation position of the spherical marker at the end of the robot
CN117651916A (en) * 2021-09-22 2024-03-05 Abb瑞士股份有限公司 Method and electronic device for calibrating a robot
CN115284275B (en) * 2021-12-23 2025-05-20 浙江理工大学 Multi-robot collaboration system reliability calculation method based on boundary estimation
USD1082878S1 (en) 2022-01-14 2025-07-08 Universal Robots A/S Robot joint
USD1099187S1 (en) 2022-01-14 2025-10-21 Universal Robots A/S Robot joint
CN117171490A (en) * 2022-05-27 2023-12-05 武汉联影智融医疗科技有限公司 Surgical probe calibration method, device, computer equipment and storage medium
CN115100324B (en) * 2022-06-28 2025-07-11 珠海金山数字网络科技有限公司 Object control method and device
US11997429B2 (en) 2022-07-28 2024-05-28 Altec Industries, nc. Reducing latency in head-mounted display for the remote operation of machinery
US11794359B1 (en) 2022-07-28 2023-10-24 Altec Industries, Inc. Manual operation of a remote robot assembly
US11689008B1 (en) 2022-07-28 2023-06-27 Altec Industries, Inc. Wire tensioning system
US11660750B1 (en) * 2022-07-28 2023-05-30 Altec Industries, Inc. Autonomous and semi-autonomous control of aerial robotic systems
US11839962B1 (en) 2022-07-28 2023-12-12 Altec Industries, Inc. Rotary tool for remote power line operations
US11717969B1 (en) 2022-07-28 2023-08-08 Altec Industries, Inc. Cooperative high-capacity and high-dexterity manipulators
US11749978B1 (en) 2022-07-28 2023-09-05 Altec Industries, Inc. Cross-arm phase-lifter
CN115462908B (en) * 2022-09-16 2023-06-27 哈尔滨工业大学 Main manipulator structure of minimally invasive surgery robot
EP4646315B1 (en) * 2023-01-02 2026-07-29 ABB Schweiz AG Robot system and calibration method
JP7837291B2 (en) * 2023-02-27 2026-03-30 株式会社日立製作所 Computer systems, methods for adjusting geometric errors in robots, and non-temporary computer-readable media
CN116442215B (en) * 2023-03-13 2025-12-16 中国科学院深圳先进技术研究院 Mechanical arm parameter identification compensation method and system
CN116465406B (en) * 2023-03-27 2026-07-17 中国航天空气动力技术研究院 Kinematic inverse solution method for series-parallel drive CTS wind tunnel test motion system
US12459118B2 (en) 2023-04-25 2025-11-04 Rockwell Automation Technologies, Inc. Method of coordinating motion of a robot and vehicle in an independent cart system
US12479097B2 (en) * 2023-04-25 2025-11-25 Rockwell Automation Technologies, Inc. Coordinated motion of a robot and vehicle in an independent cart system
CN116713993A (en) * 2023-06-14 2023-09-08 极限人工智能(北京)有限公司 A method and system for calibrating D-H parameters of a six-axis series robot
CN117211558B (en) * 2023-09-14 2026-05-29 江苏徐工工程机械研究院有限公司 Control system and method of breaking and disassembling robot, breaking and disassembling robot and medium
US12667969B2 (en) 2023-12-14 2026-06-30 Industrial Technology Research Institute Parameter calibration method, parameter calibration system and non-transitory computer readable medium
CN117719006A (en) * 2024-02-07 2024-03-19 佛山华数机器人有限公司 Position accuracy precision assessment method for industrial robot
CN118238137B (en) * 2024-04-03 2026-02-03 上海大学 Method and device for planning grabbing pose of mobile mechanical arm
US20260102213A1 (en) * 2024-10-15 2026-04-16 Auris Health, Inc. Relative kinematic compensation for robotic arms based on feedback from forces transmitted by medical instruments
CN119458320B (en) * 2024-11-01 2026-02-24 广东华沿机器人股份有限公司 Method, device, equipment and medium for evaluating rotation precision of robot around point
CN119828457B (en) * 2024-12-18 2025-09-30 武汉科技大学 Robot reconfigurable method and system based on multi-sensor fusion
CN120627984A (en) * 2025-06-26 2025-09-12 重庆交通大学 A method and device for monitoring the geometric posture of an electrical equipment expansion joint
CN120735024B (en) * 2025-07-24 2026-02-10 广东工业大学 Mechanical arm soft and hard constraint control method based on compatible conflict signals

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5177563A (en) * 1989-02-01 1993-01-05 Texas A&M University System Method and apparatus for locating physical objects
EP0655301A1 (en) * 1993-11-15 1995-05-31 Asea Brown Boveri Ab Method and device for calibration of movement axes of an industrial robot

Family Cites Families (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60193016A (en) * 1984-03-14 1985-10-01 Toyota Motor Corp Robot device
US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
US4893254A (en) 1988-04-20 1990-01-09 University Of British Columbia Manipulator arm position sensing
US5056031A (en) * 1988-11-12 1991-10-08 Kabushiki Kaisha Toyota Chuo Kenyusho Apparatus for detecting the collision of moving objects
US5392384A (en) * 1991-04-09 1995-02-21 Kabushiki Kaisha Yaskawa Denki Method of calibrating an industrial robot
FR2677755B1 (en) 1991-06-14 1993-12-10 Peugeot Automobiles DEVICE FOR SETTING A ROBOT RELATIVE TO A PRODUCTION LINE.
GB9116044D0 (en) 1991-07-24 1991-09-11 Nat Res Dev Probes
US5297238A (en) * 1991-08-30 1994-03-22 Cimetrix Incorporated Robot end-effector terminal control frame (TCF) calibration method and device
US5293461A (en) 1991-11-20 1994-03-08 The University Of British Columbia System for determining manipulator coordinates
SE501263C2 (en) * 1991-12-10 1994-12-19 Asea Brown Boveri Method for calibrating motion shafts of an industrial robot
US5430643A (en) 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
JPH06210586A (en) * 1993-01-13 1994-08-02 Fanuc Ltd Industrial robot equipped with each axis reference position setting means
US5347459A (en) * 1993-03-17 1994-09-13 National Research Council Of Canada Real time collision detection
US5668453A (en) 1993-11-05 1997-09-16 Nippon Telegraph And Telephone Corporation Method of calculating points and normal lines of contact and apparatus therefor
SE508161C2 (en) * 1995-03-30 1998-09-07 Asea Brown Boveri Method and apparatus for calibrating motion shafts of an industrial robot
US5887121A (en) 1995-04-21 1999-03-23 International Business Machines Corporation Method of constrained Cartesian control of robotic mechanisms with active and passive joints
US5797191A (en) * 1996-09-25 1998-08-25 University Of Florida Parallel kinematic structure for spatial positioning devices and method of initializing same
US6681145B1 (en) 1996-06-06 2004-01-20 The Boeing Company Method for improving the accuracy of machines
US5740328A (en) * 1996-08-12 1998-04-14 The Regents Of The University Of California Apparatus for robotic positional referencing and calibration
US6408252B1 (en) * 1997-08-01 2002-06-18 Dynalog, Inc. Calibration system and displacement measurement device
US6070109A (en) * 1998-03-10 2000-05-30 Fanuc Robotics North America, Inc. Robot calibration system
DE19854011A1 (en) * 1998-11-12 2000-05-25 Knoll Alois Device and method for measuring mechanisms and their position
US6689131B2 (en) * 2001-03-08 2004-02-10 Tissuelink Medical, Inc. Electrosurgical device having a tissue reduction sensor
US6519860B1 (en) 2000-10-19 2003-02-18 Sandia Corporation Position feedback control system
JP3905771B2 (en) * 2001-03-02 2007-04-18 株式会社ミツトヨ Calibration method and apparatus for measuring machine
US6456901B1 (en) * 2001-04-20 2002-09-24 Univ Michigan Hybrid robot motion task level control system
US6812665B2 (en) * 2002-04-19 2004-11-02 Abb Ab In-process relative robot workcell calibration
KR20060015557A (en) * 2003-04-28 2006-02-17 스티븐 제임스 크램톤 Cmm arm with exoskeleton
US6836702B1 (en) * 2003-06-11 2004-12-28 Abb Ab Method for fine tuning of a robot program
US6822412B1 (en) * 2003-06-11 2004-11-23 Zhongxue Gan Method for calibrating and programming of a robot application
US20050038563A1 (en) * 2003-08-16 2005-02-17 Abdul Rauf Device and method for kinematic calibration of robots
DE10351670A1 (en) * 2003-11-05 2005-06-30 Kuka Roboter Gmbh Method and device for controlling robots
DE102004026813A1 (en) * 2004-06-02 2005-12-29 Kuka Roboter Gmbh Method and device for controlling handling devices

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5177563A (en) * 1989-02-01 1993-01-05 Texas A&M University System Method and apparatus for locating physical objects
EP0655301A1 (en) * 1993-11-15 1995-05-31 Asea Brown Boveri Ab Method and device for calibration of movement axes of an industrial robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107924174A (en) * 2015-07-23 2018-04-17 X开发有限责任公司 system and method for determining tool offset
CN107924174B (en) * 2015-07-23 2020-11-10 X开发有限责任公司 System and method for determining tool offset
CN108406771A (en) * 2018-03-09 2018-08-17 江南大学 A kind of plane restriction error model and robot self-calibrating method
CN108406771B (en) * 2018-03-09 2021-03-16 江南大学 Robot self-calibration method
CN110000779B (en) * 2019-03-25 2021-09-28 上海科技大学 Fault-tolerant self-correcting industrial robot arm control method based on two-dimensional code

Also Published As

Publication number Publication date
DE602005008271D1 (en) 2008-08-28
US20080188986A1 (en) 2008-08-07
JP2008522836A (en) 2008-07-03
EP1809446A2 (en) 2007-07-25
WO2006086021A2 (en) 2006-08-17
ATE401170T1 (en) 2008-08-15
US7904202B2 (en) 2011-03-08
EP1809446B1 (en) 2008-07-16

Similar Documents

Publication Publication Date Title
ATE401170T1 (en) METHOD AND SYSTEM FOR ALLOWING INCREASED ACCURACY IN MULTIPLE CONNECTED ROBOTS BY CALCULATION OF THE KINEMATIC ROBOT MODEL PARAMETERS
FI20045020A0 (en) Robot tool system with control through artificial vision
PL1722935T3 (en) Method for calibration of a working point for tools on industrial robots
SE0302092L (en) Robot system
Žlajpah et al. Kinematic calibration for collaborative robots on a mobile platform using motion capture system
WO2008141608A3 (en) Device and method for calibrating swivel assemblies, particularly on cutting machines
EP2596922A3 (en) Kinematic and dynamic calibration methods for legged robots with force-controlled joints
WO2011041102A3 (en) Multiple tool attachment system with universal body with grapple
CY1116282T1 (en) POWER CALCULATION METHOD FOR A MINIMUM INTERMEDIATE ROBOTIC SURGERY SYSTEM
CN106462140A (en) Method for calibrating tool center point of industrial robot system
WO2007121060A3 (en) Robot cell
ATE516116T1 (en) ROBOTS WITH LEGS AND CONTROL METHOD FOR ROBOTS WITH LEGS
FI20085780A0 (en) Cutting Tools
DE60322510D1 (en) INDUSTRIAL ROBOTS
ATE451203T1 (en) HANDLES FOR HAND TOOLS
WO2006075209A3 (en) Laser machine tool having a x-y sliding structure with mass balancing means
EP3911554A4 (en) ARTICULATED ROBOTIC WORK TOOL HAVING AN ARTICULATION SENSOR
WO2007090981A3 (en) Method for positioning an assembly tool at the end of an articulated arm and device for implementing the same
WO2006121911A8 (en) Gage and gripper assembly for a workpiece transfer mechanism
WO2008027334A3 (en) Approaching and compensating for machine kinematic singularities
EP2743040A3 (en) A method of determination of a position of a center of a machining tool gripped in a cooperative gripping head and the cooperative gripping head
WO2006010108A3 (en) Methods and apparatus for low distortion parameter measurements
WO2010010214A8 (en) Head for positioning a tool on irregular surfaces
WO2007144114A3 (en) Machining station, in particular assembly station for vehicle bodies
CA2442900A1 (en) Ajustable drilling apparatus and associated method

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 11666187

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 2007539038

Country of ref document: JP

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2005856925

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 2005856925

Country of ref document: EP