AT532610T - Verfahren und system zur bestimmung der beziehung zwischen einem roboterkoordinatensystem und einem lokalen koordinatensystem, das im arbeitsbereich des roboters positioniert ist - Google Patents

Verfahren und system zur bestimmung der beziehung zwischen einem roboterkoordinatensystem und einem lokalen koordinatensystem, das im arbeitsbereich des roboters positioniert ist

Info

Publication number
AT532610T
AT532610T AT08749900T AT08749900T AT532610T AT 532610 T AT532610 T AT 532610T AT 08749900 T AT08749900 T AT 08749900T AT 08749900 T AT08749900 T AT 08749900T AT 532610 T AT532610 T AT 532610T
Authority
AT
Austria
Prior art keywords
coordinate system
system
robot
relationship
determining
Prior art date
Application number
AT08749900T
Other languages
English (en)
Inventor
Peter Fixell
Original Assignee
Abb Technology Ab
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 Abb Technology Ab filed Critical Abb Technology Ab
Priority to PCT/EP2008/055304 priority Critical patent/WO2009132703A1/en
Publication of AT532610T publication Critical patent/AT532610T/de

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1692Calibration of manipulator
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/39Robotics, robotics to robotics hand
    • G05B2219/39021With probe, touch reference positions
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/50Machine tool, machine tool null till machine tool work handling
    • G05B2219/50026Go to reference plane, cube
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/50Machine tool, machine tool null till machine tool work handling
    • G05B2219/50036Find center of circular mark, groove
AT08749900T 2008-04-30 2008-04-30 Verfahren und system zur bestimmung der beziehung zwischen einem roboterkoordinatensystem und einem lokalen koordinatensystem, das im arbeitsbereich des roboters positioniert ist AT532610T (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/055304 WO2009132703A1 (en) 2008-04-30 2008-04-30 A method and a system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot

Publications (1)

Publication Number Publication Date
AT532610T true AT532610T (de) 2011-11-15

Family

ID=40340472

Family Applications (1)

Application Number Title Priority Date Filing Date
AT08749900T AT532610T (de) 2008-04-30 2008-04-30 Verfahren und system zur bestimmung der beziehung zwischen einem roboterkoordinatensystem und einem lokalen koordinatensystem, das im arbeitsbereich des roboters positioniert ist

Country Status (5)

Country Link
US (1) US7979159B2 (de)
EP (1) EP2268459B9 (de)
CN (1) CN102015221B (de)
AT (1) AT532610T (de)
WO (1) WO2009132703A1 (de)

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WO2009132703A1 (en) 2008-04-30 2009-11-05 Abb Technology Ab A method and a system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot
CN102802883B (zh) 2010-03-18 2015-07-15 Abb研究有限公司 工业机器人的基座坐标系的校准
US9393694B2 (en) * 2010-05-14 2016-07-19 Cognex Corporation System and method for robust calibration between a machine vision system and a robot
US9266241B2 (en) 2011-03-14 2016-02-23 Matthew E. Trompeter Robotic work object cell calibration system
US9115908B2 (en) 2011-07-27 2015-08-25 Honeywell International Inc. Systems and methods for managing a programmable thermostat
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JP2013184236A (ja) * 2012-03-06 2013-09-19 Jtekt Corp ロボットのキャリブレーション方法及びキャリブレーション装置
CN102679925B (zh) * 2012-05-24 2015-12-02 上海飞机制造有限公司 机器人定位误差测量方法
CN102818524A (zh) * 2012-07-31 2012-12-12 华南理工大学 一种基于视觉测量的在线机器人参数校准方法
CN103659465B (zh) * 2012-09-21 2016-03-09 财团法人工业技术研究院 用于多轴机械的补偿控制方法
JP5678979B2 (ja) * 2013-03-15 2015-03-04 株式会社安川電機 ロボットシステム、校正方法及び被加工物の製造方法
JP2015033747A (ja) * 2013-08-09 2015-02-19 株式会社安川電機 ロボットシステム、ロボット制御装置及びロボット制御方法
DE102013014467A1 (de) 2013-08-30 2015-03-05 Dürr Ecoclean GmbH "Verfahren zum Einmessen und/oder Kalibrieren eines Roboters"
JP6511715B2 (ja) * 2013-10-31 2019-05-15 セイコーエプソン株式会社 ロボット制御装置、ロボットシステム、及びロボット
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JP6443837B2 (ja) * 2014-09-29 2018-12-26 セイコーエプソン株式会社 ロボット、ロボットシステム、制御装置、及び制御方法
CN104589355A (zh) * 2014-11-21 2015-05-06 安徽省库仑动力自动化科技有限公司 多点定位结合重力传感确定机器人绝对坐标的方法
US20160184996A1 (en) * 2014-12-24 2016-06-30 Seiko Epson Corporation Robot, robot system, control apparatus, and control method
GB2536227A (en) * 2015-03-09 2016-09-14 Stratec Biomedical Ag Pipettor Autoteaching
CN107428009A (zh) * 2015-04-02 2017-12-01 Abb瑞士股份有限公司 用于工业机器人调试的方法、使用该方法的工业机器人系统和控制系统
US9815198B2 (en) 2015-07-23 2017-11-14 X Development Llc System and method for determining a work offset
US10016892B2 (en) 2015-07-23 2018-07-10 X Development Llc System and method for determining tool offsets
CN106483963B (zh) * 2015-08-26 2020-02-11 泰科电子(上海)有限公司 机器人系统的自动标定方法
CN105066831A (zh) * 2015-09-09 2015-11-18 大族激光科技产业集团股份有限公司 一种单一或多机器人系统协同工作坐标系的标定方法
CN106945034A (zh) * 2016-01-07 2017-07-14 鸿富锦精密电子(郑州)有限公司 机器人点位调节方法与系统
CN107214692B (zh) * 2016-03-22 2020-04-03 泰科电子(上海)有限公司 机器人系统的自动标定方法
CN106502208B (zh) * 2016-09-23 2018-04-27 佛山华数机器人有限公司 一种工业机器人tcp标定方法
CN107553475B (zh) * 2017-09-11 2019-11-08 重庆华数机器人有限公司 一种用于工件加工的工件坐标标定方法
JP6568172B2 (ja) * 2017-09-22 2019-08-28 ファナック株式会社 キャリブレーションを行うロボット制御装置、計測システム及びキャリブレーション方法
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WO2019235023A1 (ja) * 2018-06-04 2019-12-12 株式会社キーレックス 多関節ロボット用の教示データ作成方法及び教示データ校正用座標系検出具

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Also Published As

Publication number Publication date
CN102015221A (zh) 2011-04-13
CN102015221B (zh) 2012-09-05
WO2009132703A1 (en) 2009-11-05
US7979159B2 (en) 2011-07-12
EP2268459A1 (de) 2011-01-05
US20110046782A1 (en) 2011-02-24
EP2268459B1 (de) 2011-11-09
EP2268459B9 (de) 2012-03-21

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