WO2010143837A3 - 로봇 캘리브레이션 장치 및 그 방법 - Google Patents

로봇 캘리브레이션 장치 및 그 방법 Download PDF

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Publication number
WO2010143837A3
WO2010143837A3 PCT/KR2010/003569 KR2010003569W WO2010143837A3 WO 2010143837 A3 WO2010143837 A3 WO 2010143837A3 KR 2010003569 W KR2010003569 W KR 2010003569W WO 2010143837 A3 WO2010143837 A3 WO 2010143837A3
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WIPO (PCT)
Prior art keywords
robot
measurement
points
measurement points
location
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Ceased
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PCT/KR2010/003569
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English (en)
French (fr)
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WO2010143837A2 (ko
Inventor
범진환
김정민
박상욱
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EZROBOTICS Ltd
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EZROBOTICS Ltd
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Publication date
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Priority to CN201080025616.4A priority Critical patent/CN102458779B/zh
Priority to US13/376,878 priority patent/US20120078418A1/en
Publication of WO2010143837A2 publication Critical patent/WO2010143837A2/ko
Publication of WO2010143837A3 publication Critical patent/WO2010143837A3/ko
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G05B2219/39045—Camera on end effector detects reference pattern
    • 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
    • Y02P80/00—Climate change mitigation technologies for sector-wide applications
    • Y02P80/40—Minimising material used in manufacturing processes

Landscapes

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

Abstract

로봇 캘리브레이션 장치 및 그 방법이 개시된다. 본 발명에 따른 로봇 캘리브레이션 장치는 위치정보가 미리 알려진 복수의 참조점, 직선방정식이 미리 알려진 하나 이상의 참조선 및 평면방정식이 미리 알려진 하나 이상의 참조평면을 포함하되, 복수의 참조점 중 임의의 점, 참조선상의 임의의 점 및 참조평면상의 임의의 점이 측정점으로 설정될 수 있는 측정지그; 로봇에 결합되며, 측정지그상의 측정점들 중에서 선택된 복수의 측정점의 위치를 각각 측정하는 센서; 및 센서로부터 측정된 복수의 측정점의 위치정보를 포함하는 복수의 캘리브레이션 데이터를 기초로 로봇을 캘리브레이션하여 로봇을 제어하는 제어부;를 구비하며, 복수의 측정점 중 적어도 하나의 측정점은 참조선 또는 참조평면상에 배치되도록 구성된다. 본 발명에 따르면, 측정지그 상의 참조선 또는 참조평명 상의 임의의 위치를 측정하는 정보를 이용하여 로봇을 캘리브레이션할 수 있으므로, 측정점의 위치 측정시 로봇의 자세에 대한 제한이 크게 줄어들고 측정점의 위치 정보를 손쉽게 얻을 수 있으며, 나아가 로봇 캘리브레이션 장치를 생산라인에 쉽게 적용할 수 있게 된다.
PCT/KR2010/003569 2009-06-08 2010-06-03 로봇 캘리브레이션 장치 및 그 방법 Ceased WO2010143837A2 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201080025616.4A CN102458779B (zh) 2009-06-08 2010-06-03 机械手校正装置及其方法
US13/376,878 US20120078418A1 (en) 2009-06-08 2010-06-03 Robot calibration apparatus and method for same

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2009-0050518 2009-06-08
KR20090050518 2009-06-08
KR1020100007542A KR100986669B1 (ko) 2009-06-08 2010-01-27 로봇 캘리브레이션 장치 및 그 방법
KR10-2010-0007542 2010-01-27

Publications (2)

Publication Number Publication Date
WO2010143837A2 WO2010143837A2 (ko) 2010-12-16
WO2010143837A3 true WO2010143837A3 (ko) 2011-03-31

Family

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Family Applications (1)

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PCT/KR2010/003569 Ceased WO2010143837A2 (ko) 2009-06-08 2010-06-03 로봇 캘리브레이션 장치 및 그 방법

Country Status (4)

Country Link
US (1) US20120078418A1 (ko)
KR (1) KR100986669B1 (ko)
CN (1) CN102458779B (ko)
WO (1) WO2010143837A2 (ko)

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WO2013176299A1 (ko) 2012-05-21 2013-11-28 (주)로보티즈 캘리브레이션 지그 및 이를 포함하는 액츄에이터 어셈블리, 그리고 액츄에이터 어셈블리의 캘리브레이션 방법
JP2014176943A (ja) * 2013-03-15 2014-09-25 Yaskawa Electric Corp ロボットシステム、校正方法及び被加工物の製造方法
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JP2014180720A (ja) * 2013-03-19 2014-09-29 Yaskawa Electric Corp ロボットシステム及びキャリブレーション方法
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JP6665450B2 (ja) * 2015-08-31 2020-03-13 セイコーエプソン株式会社 ロボット、制御装置、及びロボットシステム
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JP6603289B2 (ja) * 2017-10-27 2019-11-06 ファナック株式会社 ロボット、ロボットシステム、およびロボットの座標系設定方法
KR101925857B1 (ko) * 2017-11-13 2018-12-06 노성남 로봇 용접기용 레이저 빔의 3차원 포인트 좌표 측정방법
KR101910608B1 (ko) * 2017-11-13 2018-10-23 노성남 로봇 용접기용 레이저 빔의 위치와 각도 측정방법
JP6767436B2 (ja) * 2018-07-06 2020-10-14 ファナック株式会社 自動機械及び制御装置
KR102082686B1 (ko) * 2018-09-12 2020-02-28 한국원자력연구원 구면좌표계 기반의 피봇형 이송장치 및 이의 제어 방법
TWI753209B (zh) * 2018-10-15 2022-01-21 達明機器人股份有限公司 機器手臂校正工具中心點的方法
JP7048535B2 (ja) * 2019-04-01 2022-04-05 ファナック株式会社 ロボットを制御するための機構誤差パラメータを較正するロボットの制御装置
KR102113636B1 (ko) * 2019-12-20 2020-05-20 (주)우신시스템 변위센서를 이용한 차체제조시스템
CN113799115B (zh) 2020-06-11 2023-03-24 台达电子工业股份有限公司 机器手臂的坐标校正方法
TWI710441B (zh) * 2020-06-11 2020-11-21 台達電子工業股份有限公司 機器手臂的座標校正方法
WO2021261378A1 (ja) * 2020-06-24 2021-12-30 ファナック株式会社 ロボットシステム
US20220219328A1 (en) * 2021-01-08 2022-07-14 General Electric Company Method and device for creation of three dimensional tool frame
CN115178858B (zh) * 2022-06-28 2025-03-07 华中科技大学 基于焦点定位补偿的激光焊接机器人工具标定方法及系统
CN114905521B (zh) * 2022-07-18 2022-10-04 法奥意威(苏州)机器人系统有限公司 机器人原点位置校准方法、装置、电子设备和存储介质
KR102736925B1 (ko) * 2022-08-10 2024-12-02 한국로봇융합연구원 소형 부재의 모서리 가공을 위한 자동화 시스템 및 방법
CN115464658A (zh) * 2022-09-30 2022-12-13 柳州职业技术学院 一种工业机器人运动学标定装置
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WO2026059069A1 (ko) * 2024-09-10 2026-03-19 삼성전자 주식회사 캘리브레이션 장치 및 캘리브레이션 시스템

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Also Published As

Publication number Publication date
WO2010143837A2 (ko) 2010-12-16
US20120078418A1 (en) 2012-03-29
CN102458779B (zh) 2014-11-19
CN102458779A (zh) 2012-05-16
KR100986669B1 (ko) 2010-10-08

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