EP2244865A4 - System and method for precise real-time control of position and orientation of tooling - Google Patents

System and method for precise real-time control of position and orientation of tooling

Info

Publication number
EP2244865A4
EP2244865A4 EP08799965.2A EP08799965A EP2244865A4 EP 2244865 A4 EP2244865 A4 EP 2244865A4 EP 08799965 A EP08799965 A EP 08799965A EP 2244865 A4 EP2244865 A4 EP 2244865A4
Authority
EP
European Patent Office
Prior art keywords
tooling
orientation
time control
precise real
precise
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.)
Withdrawn
Application number
EP08799965.2A
Other languages
German (de)
French (fr)
Other versions
EP2244865A1 (en
Inventor
Mark Joseph Pivac
Michael Barrington Wood
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.)
Fastbrick IP Pty Ltd
Original Assignee
Goldwing Nominees Pty Ltd
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
Priority claimed from AU2007904639A external-priority patent/AU2007904639A0/en
Application filed by Goldwing Nominees Pty Ltd filed Critical Goldwing Nominees Pty Ltd
Publication of EP2244865A1 publication Critical patent/EP2244865A1/en
Publication of EP2244865A4 publication Critical patent/EP2244865A4/en
Withdrawn legal-status Critical Current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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme 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
    • G05B2219/37275—Laser, interferometer
    • 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
    • G05B2219/39176—Compensation deflection arm
    • 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
    • G05B2219/40511—Trajectory optimization, coarse for arm, medium for wrist, fine for finger

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP08799965.2A 2007-08-28 2008-08-28 System and method for precise real-time control of position and orientation of tooling Withdrawn EP2244865A4 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
AU2007904639A AU2007904639A0 (en) 2007-08-28 Method for precise position control of tooling mounted to flexible or moveable machines
AU2007904640A AU2007904640A0 (en) 2007-08-28 Combined laser tracker and inertial navigation system
PCT/AU2008/001274 WO2009026641A1 (en) 2007-08-28 2008-08-28 System and method for precise real-time control of position and orientation of tooling

Publications (2)

Publication Number Publication Date
EP2244865A1 EP2244865A1 (en) 2010-11-03
EP2244865A4 true EP2244865A4 (en) 2013-08-28

Family

ID=40386573

Family Applications (2)

Application Number Title Priority Date Filing Date
EP08799966.0A Withdrawn EP2249997A4 (en) 2007-08-28 2008-08-28 System and method for precise real-time measurement of a target position and orientation relative to a base position, and control thereof
EP08799965.2A Withdrawn EP2244865A4 (en) 2007-08-28 2008-08-28 System and method for precise real-time control of position and orientation of tooling

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP08799966.0A Withdrawn EP2249997A4 (en) 2007-08-28 2008-08-28 System and method for precise real-time measurement of a target position and orientation relative to a base position, and control thereof

Country Status (4)

Country Link
EP (2) EP2249997A4 (en)
AU (2) AU2008291702A1 (en)
CA (2) CA2732312A1 (en)
WO (2) WO2009026641A1 (en)

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US8965571B2 (en) 2010-08-12 2015-02-24 Construction Robotics, Llc Brick laying system
DE102011011286A1 (en) * 2011-02-15 2012-08-16 Rheinisch-Westfälische Technische Hochschule Aachen Method for correcting position of e.g. numerical machine tool of computer numerical control machine, relative to workpiece, for machining workpiece, involves measuring deviation of object from target position based on interference patterns
DE102012014312A1 (en) * 2012-07-19 2014-05-15 Kuka Roboter Gmbh Robot guided measuring arrangement
EP2824420B1 (en) * 2013-07-08 2019-03-06 Hexagon Technology Center GmbH Device for determining position with an inertial measuring unit
EP3174666B1 (en) 2014-07-31 2021-07-07 Usnr, Llc Dynamically directed workpiece positioning system
US9557157B2 (en) 2014-12-01 2017-01-31 Steven Eugene Ihlenfeldt Inertial dimensional metrology
US9812486B2 (en) 2014-12-22 2017-11-07 Google Inc. Time-of-flight image sensor and light source driver having simulated distance capability
US9757859B1 (en) 2016-01-21 2017-09-12 X Development Llc Tooltip stabilization
US9744665B1 (en) 2016-01-27 2017-08-29 X Development Llc Optimization of observer robot locations
US10059003B1 (en) 2016-01-28 2018-08-28 X Development Llc Multi-resolution localization system
BR112019000722B1 (en) 2016-07-15 2023-03-28 Fastbrick Ip Pty Ltd TELESCOPIC EXTENDING BOOM TO CARRY ITEM AND FOLDING BOOM
CN109790723B (en) 2016-07-15 2021-12-31 快砖知识产权私人有限公司 Brick/block laying machine incorporated in a vehicle
CN108268056B (en) * 2016-12-30 2020-12-15 昊翔电能运动科技(昆山)有限公司 Handheld holder calibration method, device and system
CN107255442B (en) * 2017-06-06 2019-07-19 中国葛洲坝集团勘测设计有限公司 Large scale hydraulic generator stator based on laser tracking technology installs measurement method
EP3649616A4 (en) 2017-07-05 2021-04-07 Fastbrick IP Pty Ltd Real time position and orientation tracker
CN111226090B (en) 2017-08-17 2023-05-23 快砖知识产权私人有限公司 Laser tracker with improved roll angle measurement
EP3668689A4 (en) 2017-08-17 2021-04-28 Fastbrick IP Pty Ltd Interaction system configuration
CN111212799B (en) 2017-10-11 2023-04-14 快砖知识产权私人有限公司 Machine for conveying objects and multi-compartment carousel for use therewith
WO2019118969A1 (en) * 2017-12-17 2019-06-20 Ap Robotics, Llc Multi-dimensional measurement system for precise calculation of position and orientation of a dynamic object
AU2019304101A1 (en) 2018-07-16 2021-02-04 Fastbrick Ip Pty Ltd Active damping system
WO2020014737A1 (en) 2018-07-16 2020-01-23 Fastbrick Ip Pty Ltd Backup tracking for an interaction system
JP7161753B2 (en) * 2018-10-24 2022-10-27 国立大学法人広島大学 Motion accuracy measurement method and position correction method for robot
EP3881153B1 (en) * 2018-11-14 2023-11-29 Fastbrick IP Pty Ltd Position and orientation tracking system
RU2718025C1 (en) * 2019-07-04 2020-03-30 федеральное государственное автономное образовательное учреждение высшего образования "Южно-Уральский государственный университет (национальный исследовательский университет)" Manipulation industrial robot
CN114260577B (en) * 2021-12-03 2024-01-05 重庆海尔制冷电器有限公司 Refrigerator laser coding system and control method thereof

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Publication number Priority date Publication date Assignee Title
WO2005014240A1 (en) * 2003-08-11 2005-02-17 Mindready, Solutions Inc. Micro-assembly and test station applied for the chip and bar tester application
US20050060092A1 (en) * 2003-08-05 2005-03-17 The Boeing Company Laser range finder closed-loop pointing technology of relative navigation, attitude determination, pointing and tracking for spacecraft rendezvous
US7230689B2 (en) * 2002-08-26 2007-06-12 Lau Kam C Multi-dimensional measuring system
WO2007076581A1 (en) * 2005-12-30 2007-07-12 Goldwing Nominees Pty Ltd An automated brick laying system for constructing a building from a plurality of bricks

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US4952772A (en) * 1988-11-16 1990-08-28 Westinghouse Electric Corp. Automatic seam tracker and real time error cumulative control system for an industrial robot
AU632388B2 (en) * 1989-11-30 1992-12-24 Self Levelling Machines Pty. Ltd. Milling apparatus
AU645640B2 (en) * 1990-12-20 1994-01-20 Self Levelling Machines Pty. Ltd. Machining apparatus
JP2769947B2 (en) * 1992-05-15 1998-06-25 株式会社椿本チエイン Manipulator position / posture control method
US5557397A (en) * 1994-09-21 1996-09-17 Airborne Remote Mapping, Inc. Aircraft-based topographical data collection and processing system
SE0001312D0 (en) * 2000-04-10 2000-04-10 Abb Ab Industrial robot
US6427122B1 (en) * 2000-12-23 2002-07-30 American Gnc Corporation Positioning and data integrating method and system thereof
US6859729B2 (en) * 2002-10-21 2005-02-22 Bae Systems Integrated Defense Solutions Inc. Navigation of remote controlled vehicles
AU2003304436A1 (en) * 2002-12-13 2005-03-07 Utah State University Research Foundation A vehicle mounted system and method for capturing and processing physical data
DE102006030130B3 (en) * 2006-06-28 2007-09-27 Scansonic Gmbh Workpiece machining method for, e.g., industrial robot, involves compensating deviation of determined actual-position from reference-movement path and deviation of determined actual-speed vector from measured reference-speed vector

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7230689B2 (en) * 2002-08-26 2007-06-12 Lau Kam C Multi-dimensional measuring system
US20050060092A1 (en) * 2003-08-05 2005-03-17 The Boeing Company Laser range finder closed-loop pointing technology of relative navigation, attitude determination, pointing and tracking for spacecraft rendezvous
WO2005014240A1 (en) * 2003-08-11 2005-02-17 Mindready, Solutions Inc. Micro-assembly and test station applied for the chip and bar tester application
WO2007076581A1 (en) * 2005-12-30 2007-07-12 Goldwing Nominees Pty Ltd An automated brick laying system for constructing a building from a plurality of bricks

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2009026641A1 *

Also Published As

Publication number Publication date
WO2009026642A1 (en) 2009-03-05
AU2008291702A1 (en) 2009-03-05
AU2008291701A1 (en) 2009-03-05
CA2732312A1 (en) 2009-03-05
CA2732310A1 (en) 2009-03-05
EP2244865A1 (en) 2010-11-03
EP2249997A4 (en) 2013-08-28
WO2009026641A1 (en) 2009-03-05
EP2249997A1 (en) 2010-11-17

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