ATE411135T1 - Verfahren und system zum ausgleich von thermischen verformungen an industrierobotersystemen - Google Patents

Verfahren und system zum ausgleich von thermischen verformungen an industrierobotersystemen

Info

Publication number
ATE411135T1
ATE411135T1 AT02793718T AT02793718T ATE411135T1 AT E411135 T1 ATE411135 T1 AT E411135T1 AT 02793718 T AT02793718 T AT 02793718T AT 02793718 T AT02793718 T AT 02793718T AT E411135 T1 ATE411135 T1 AT E411135T1
Authority
AT
Austria
Prior art keywords
industrial robot
robot systems
thermal deformations
compensating thermal
deltat
Prior art date
Application number
AT02793718T
Other languages
English (en)
Inventor
Ingvar Jonsson
Original Assignee
Abb 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 Ab filed Critical Abb Ab
Application granted granted Critical
Publication of ATE411135T1 publication Critical patent/ATE411135T1/de

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
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/0003—Arrangements for preventing undesired thermal effects on tools or parts of the machine
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49204—Control of heat to compensate for dilatation, thermal displacement
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49205—Compensate with stored values as function of machining time
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49206—Compensation temperature, thermal displacement, use measured temperature

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
  • Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
AT02793718T 2001-12-19 2002-12-19 Verfahren und system zum ausgleich von thermischen verformungen an industrierobotersystemen ATE411135T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0104320A SE0104320D0 (sv) 2001-12-19 2001-12-19 Metod vid industrirobotsystem

Publications (1)

Publication Number Publication Date
ATE411135T1 true ATE411135T1 (de) 2008-10-15

Family

ID=20286420

Family Applications (1)

Application Number Title Priority Date Filing Date
AT02793718T ATE411135T1 (de) 2001-12-19 2002-12-19 Verfahren und system zum ausgleich von thermischen verformungen an industrierobotersystemen

Country Status (6)

Country Link
EP (1) EP1465748B1 (de)
AT (1) ATE411135T1 (de)
AU (1) AU2002359198A1 (de)
DE (1) DE60229439D1 (de)
SE (1) SE0104320D0 (de)
WO (1) WO2003051575A1 (de)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016190297A (ja) 2015-03-31 2016-11-10 セイコーエプソン株式会社 ロボットシステム
JP4182082B2 (ja) 2005-04-18 2008-11-19 ファナック株式会社 工作機械
GB0603128D0 (en) 2006-02-16 2006-03-29 Renishaw Plc Articulating probe head apparatus
US8919005B2 (en) 2007-04-30 2014-12-30 Renishaw Plc Analogue probe and method of operation
GB0708319D0 (en) 2007-04-30 2007-06-06 Renishaw Plc A storage apparatus for a tool
CN106233214B (zh) * 2014-04-22 2019-04-12 Abb瑞士股份有限公司 补偿机器人运动偏差
JP6582492B2 (ja) * 2015-03-31 2019-10-02 セイコーエプソン株式会社 ロボットシステム
CN115383766B (zh) * 2022-10-27 2022-12-27 广东机电职业技术学院 特种作业悬臂机械手系统

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6045040B2 (ja) * 1980-05-19 1985-10-07 株式会社 アマダ プレスのフレ−ムの熱変形を制御する方法および装置
JPH0747257B2 (ja) * 1989-08-22 1995-05-24 日立精機株式会社 工作機械の熱変位補正方法およびその制御装置
EP0567765A2 (de) * 1992-04-30 1993-11-03 Siemens Aktiengesellschaft Verfahren zum Optimieren der Postioniergenauigkeit von Roboterarmen
JP3327655B2 (ja) * 1993-12-27 2002-09-24 ブラザー工業株式会社 Ｎｃ工作機械の変位補正装置
JP3792266B2 (ja) * 1994-06-16 2006-07-05 森精機興産株式会社 工作機械の熱変位補正方法及びその装置

Also Published As

Publication number Publication date
WO2003051575A1 (en) 2003-06-26
EP1465748A1 (de) 2004-10-13
AU2002359198A1 (en) 2003-06-30
EP1465748B1 (de) 2008-10-15
SE0104320D0 (sv) 2001-12-19
DE60229439D1 (de) 2008-11-27

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Legal Events

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