WO2012125209A3 - Robotic work object cell calibration device, system, and method - Google Patents

Robotic work object cell calibration device, system, and method Download PDF

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Publication number
WO2012125209A3
WO2012125209A3 PCT/US2012/000140 US2012000140W WO2012125209A3 WO 2012125209 A3 WO2012125209 A3 WO 2012125209A3 US 2012000140 W US2012000140 W US 2012000140W WO 2012125209 A3 WO2012125209 A3 WO 2012125209A3
Authority
WO
WIPO (PCT)
Prior art keywords
work object
object cell
calibration device
robotic work
robot
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/US2012/000140
Other languages
French (fr)
Other versions
WO2012125209A2 (en
Inventor
Matthew E. TROMPETER
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to AU2012229542A priority Critical patent/AU2012229542A1/en
Priority to CA2828856A priority patent/CA2828856A1/en
Priority to CN2012800129990A priority patent/CN103442858A/en
Priority to BR112013023413A priority patent/BR112013023413A2/en
Priority to EP12757103.2A priority patent/EP2686143A2/en
Priority to JP2013558009A priority patent/JP2014508050A/en
Priority to KR1020137023867A priority patent/KR20130141664A/en
Priority to MX2013010355A priority patent/MX2013010355A/en
Publication of WO2012125209A2 publication Critical patent/WO2012125209A2/en
Publication of WO2012125209A3 publication Critical patent/WO2012125209A3/en
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
    • G05B2219/39033—Laser tracking of end effector, measure orientation of rotatable mirror

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Laser Beam Processing (AREA)

Abstract

The robotic work object cell calibration system includes a calibration device that emits a pair of beam-projecting lasers acting as a crosshair, intersecting at a tool contact point. The calibration device also emits four plane-projecting lasers, which are used to adjust the yaw, pitch, and roll of the robot tool relative to the tool contact point. Initially, the calibration device is placed in a selected position on a fixture or work piece on the shop floor. The robotic work object cell calibration method increases the accuracy of the off-line programming and decreases robot teaching time. The robotic work object cell calibration system and method are simpler, involve a lower investment cost, entail lower operating costs than the prior art, and can be used for different robot tools on a shop floor without having to perform a recalibration for each robot tool.
PCT/US2012/000140 2011-03-14 2012-03-14 Robotic work object cell calibration device, system, and method Ceased WO2012125209A2 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
AU2012229542A AU2012229542A1 (en) 2011-03-14 2012-03-14 Robotic work object cell calibration device, system, and method
CA2828856A CA2828856A1 (en) 2011-03-14 2012-03-14 Robotic work object cell calibration device, system, and method
CN2012800129990A CN103442858A (en) 2011-03-14 2012-03-14 Robot work object unit calibration apparatus, system, and method
BR112013023413A BR112013023413A2 (en) 2011-03-14 2012-03-14 device for calibrating a working path of a robot tool, system for calibrating a working path of a robot, method for calibrating a robot at a workplace by installing a calibration device
EP12757103.2A EP2686143A2 (en) 2011-03-14 2012-03-14 Robotic work object cell calibration device, system, and method
JP2013558009A JP2014508050A (en) 2011-03-14 2012-03-14 Device, system and method for robotic cell calibration
KR1020137023867A KR20130141664A (en) 2011-03-14 2012-03-14 Robotic work object cell calibration device, system, and method
MX2013010355A MX2013010355A (en) 2011-03-14 2012-03-14 Robotic work object cell calibration device, system, and method.

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
US201161465080P 2011-03-14 2011-03-14
US61/465,080 2011-03-14
US201161518912P 2011-05-13 2011-05-13
US61/518,912 2011-05-13
US13/385,091 US9266241B2 (en) 2011-03-14 2012-02-01 Robotic work object cell calibration system
US13/385,091 2012-02-01
US13/385,797 2012-03-07
US13/385,797 US9061421B2 (en) 2011-03-14 2012-03-07 Robotic work object cell calibration method

Publications (2)

Publication Number Publication Date
WO2012125209A2 WO2012125209A2 (en) 2012-09-20
WO2012125209A3 true WO2012125209A3 (en) 2012-12-27

Family

ID=47007022

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2012/000140 Ceased WO2012125209A2 (en) 2011-03-14 2012-03-14 Robotic work object cell calibration device, system, and method

Country Status (10)

Country Link
US (2) US9266241B2 (en)
EP (1) EP2686143A2 (en)
JP (1) JP2014508050A (en)
KR (1) KR20130141664A (en)
CN (1) CN103442858A (en)
AU (1) AU2012229542A1 (en)
BR (1) BR112013023413A2 (en)
CA (1) CA2828856A1 (en)
MX (1) MX2013010355A (en)
WO (1) WO2012125209A2 (en)

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US8485017B1 (en) * 2012-08-01 2013-07-16 Matthew E. Trompeter Robotic work object cell calibration system
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WO2019119455A1 (en) * 2017-12-23 2019-06-27 深圳市大疆创新科技有限公司 Tripod head calibration method and tripod head device
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
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
CN108742846B (en) * 2018-04-08 2020-06-19 武汉联影智融医疗科技有限公司 Surgical robot space coordinate system calibration device and calibration method applying same
JP7190152B2 (en) * 2018-06-04 2022-12-15 株式会社キーレックス Teaching data creation method for articulated robots
KR102354913B1 (en) * 2018-06-04 2022-01-24 가부시키가이샤 키렉스 Learning data creation method for articulated robot and coordinate system detection mechanism for learning data calibration
JP7088543B2 (en) * 2018-06-12 2022-06-21 株式会社キーレックス Teaching data calibration coordinate system detector
US10576636B1 (en) 2019-04-12 2020-03-03 Mujin, Inc. Method and control system for and updating camera calibration for robot control
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
CN110258030A (en) * 2019-07-03 2019-09-20 珞石（北京）科技有限公司 A Cloth Sewing Speed Synchronization Method Based on Robot Control System
US12194639B2 (en) 2020-03-18 2025-01-14 Realtime Robotics, Inc. Digital representations of robot operational environment, useful in motion planning for robots
IL274911B2 (en) * 2020-05-25 2023-10-01 Metalix Cad/Cam Ltd A device and method for calibrating a robotic cell
WO2021237620A1 (en) * 2020-05-28 2021-12-02 西门子(中国)有限公 Method, device and system for calibrating tool center point of robot
CN112454356A (en) * 2020-11-12 2021-03-09 中国煤炭科工集团太原研究院有限公司 Automatic control method and device for movement track of cantilever of heading machine
US11911915B2 (en) 2021-06-09 2024-02-27 Intrinsic Innovation Llc Determining robotic calibration processes
KR102677941B1 (en) * 2022-04-06 2024-06-26 현대무벡스 주식회사 Method for Calibration Between Scanners in Mobile Robots
KR20240083265A (en) 2022-12-02 2024-06-12 현대자동차주식회사 System for adjusting gap and height and operation method thereof

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Also Published As

Publication number Publication date
MX2013010355A (en) 2014-04-14
KR20130141664A (en) 2013-12-26
US20120283874A1 (en) 2012-11-08
US9061421B2 (en) 2015-06-23
EP2686143A2 (en) 2014-01-22
CN103442858A (en) 2013-12-11
JP2014508050A (en) 2014-04-03
US20120265341A1 (en) 2012-10-18
US9266241B2 (en) 2016-02-23
BR112013023413A2 (en) 2017-03-01
AU2012229542A1 (en) 2013-10-03
CA2828856A1 (en) 2012-09-20
WO2012125209A2 (en) 2012-09-20

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