ATE401170T1 - Verfahren und system zum ermöglichen von erhöhter genauigkeit bei mehrfachverbundenen robotern durch berechnung der kinematischen robotermodellparameter - Google Patents

Verfahren und system zum ermöglichen von erhöhter genauigkeit bei mehrfachverbundenen robotern durch berechnung der kinematischen robotermodellparameter

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Publication number
ATE401170T1
ATE401170T1 AT05856925T AT05856925T ATE401170T1 AT E401170 T1 ATE401170 T1 AT E401170T1 AT 05856925 T AT05856925 T AT 05856925T AT 05856925 T AT05856925 T AT 05856925T AT E401170 T1 ATE401170 T1 AT E401170T1
Authority
AT
Austria
Prior art keywords
model parameters
present
robot
robot model
parameters
Prior art date
Application number
AT05856925T
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English (en)
Inventor
Wally Hoppe
Original Assignee
Univ 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.)
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Publication date
Application filed by Univ Dayton filed Critical Univ Dayton
Application granted granted Critical
Publication of ATE401170T1 publication Critical patent/ATE401170T1/de

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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—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
    • G05B2219/37123—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
AT05856925T 2004-10-25 2005-10-25 Verfahren und system zum ermöglichen von erhöhter genauigkeit bei mehrfachverbundenen robotern durch berechnung der kinematischen robotermodellparameter ATE401170T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US62183804P 2004-10-25 2004-10-25

Publications (1)

Publication Number Publication Date
ATE401170T1 true ATE401170T1 (de) 2008-08-15

Family

ID=36793528

Family Applications (1)

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AT05856925T ATE401170T1 (de) 2004-10-25 2005-10-25 Verfahren und system zum ermöglichen von erhöhter genauigkeit bei mehrfachverbundenen robotern durch berechnung der kinematischen robotermodellparameter

Country Status (6)

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

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DE102004026813A1 (de) * 2004-06-02 2005-12-29 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern von Handhabungsgeräten

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JP2008522836A (ja) 2008-07-03
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WO2006086021A3 (en) 2007-03-15
US7904202B2 (en) 2011-03-08
EP1809446B1 (de) 2008-07-16
US20080188986A1 (en) 2008-08-07

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