ATE483185T1 - Verfahren und vorrichtung zur kompensation geometrischer fehler zwischen arbeitsobjekten und einer halteeinrichtung - Google Patents
Verfahren und vorrichtung zur kompensation geometrischer fehler zwischen arbeitsobjekten und einer halteeinrichtungInfo
- Publication number
- ATE483185T1 ATE483185T1 AT08735426T AT08735426T ATE483185T1 AT E483185 T1 ATE483185 T1 AT E483185T1 AT 08735426 T AT08735426 T AT 08735426T AT 08735426 T AT08735426 T AT 08735426T AT E483185 T1 ATE483185 T1 AT E483185T1
- Authority
- AT
- Austria
- Prior art keywords
- orientation
- calculating
- errors
- compensating
- freedom
- Prior art date
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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical 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
- G05B19/401—Numerical 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
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical 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
- G05B19/408—Numerical 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 data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4083—Adapting programme, configuration
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36404—Adapt teached position as function of deviation 3-D, 2-D position workpiece
-
- 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
- G05B2219/39008—Fixed camera detects reference pattern held by end effector
-
- 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
- G05B2219/40387—Modify without repeating teaching operation
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
- Suspension Of Electric Lines Or Cables (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Automatic Control Of Machine Tools (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US90711407P | 2007-03-21 | 2007-03-21 | |
PCT/EP2008/053162 WO2008113783A2 (en) | 2007-03-21 | 2008-03-17 | A method and an apparatus for compensating for geometrical errors between work objects and a holding device |
Publications (1)
Publication Number | Publication Date |
---|---|
ATE483185T1 true ATE483185T1 (de) | 2010-10-15 |
Family
ID=39711860
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
AT08735426T ATE483185T1 (de) | 2007-03-21 | 2008-03-17 | Verfahren und vorrichtung zur kompensation geometrischer fehler zwischen arbeitsobjekten und einer halteeinrichtung |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP2122422B1 (de) |
AT (1) | ATE483185T1 (de) |
DE (1) | DE602008002823D1 (de) |
WO (2) | WO2008113783A2 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11656597B2 (en) | 2020-12-07 | 2023-05-23 | Industrial Technology Research Institute | Method and system for recognizing deburring trajectory |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7908757B2 (en) | 2008-10-16 | 2011-03-22 | Hexagon Metrology, Inc. | Articulating measuring arm with laser scanner |
DE102009034938B4 (de) * | 2009-07-28 | 2015-10-15 | Sensodrive Gmbh | Verfahren zur Kommandierung eines Bewegungssystems mit einer Messeinrichtung |
US9008841B2 (en) * | 2009-08-27 | 2015-04-14 | Abb Research Ltd. | Robotic picking of parts from a parts holding bin |
GB201009219D0 (en) | 2010-06-02 | 2010-07-21 | Airbus Operations Ltd | Aircraft component manufacturing method and apparatus |
EP2631668B1 (de) * | 2012-02-24 | 2016-05-25 | Sick AG | Optische Einrichtung und Prüfverfahren zur Prüfung der Funktionsfähigkeit einer optischen Einrichtung |
US11226390B2 (en) * | 2017-08-28 | 2022-01-18 | Teradyne, Inc. | Calibration process for an automated test system |
DE102017124536A1 (de) | 2017-10-20 | 2019-04-25 | Homag Gmbh | Verfahren zum Betrieb zumindest einer Bearbeitungsvorrichtung sowie Bearbeitungsanlage |
JP7179844B2 (ja) | 2017-11-13 | 2022-11-29 | ヘキサゴン メトロロジー,インコーポレイテッド | 光学スキャニング装置の熱管理 |
CN109591019B (zh) * | 2018-12-19 | 2021-07-27 | 南京航空航天大学 | 一种无确定性定位特征物体的空间精确定位方法 |
JP6709316B1 (ja) * | 2019-07-16 | 2020-06-10 | Dmg森精機株式会社 | 測定装置 |
CN112558547B (zh) * | 2021-02-19 | 2021-06-08 | 成都飞机工业(集团)有限责任公司 | 一种五轴数控机床平动轴几何误差补偿数据快速优化方法 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5374830A (en) * | 1984-10-12 | 1994-12-20 | Sensor Adaptive Machines, Inc. | Target based determination of robot and sensor alignment |
DE3620422C1 (en) * | 1986-06-18 | 1988-01-14 | Gildemeister Ag | Method for correcting the processing programme of a tool of a numerically controlled machine tool |
US5297238A (en) * | 1991-08-30 | 1994-03-22 | Cimetrix Incorporated | Robot end-effector terminal control frame (TCF) calibration method and device |
JP2000317775A (ja) * | 1999-04-28 | 2000-11-21 | Mitsutoyo Corp | 加工システム |
JP3694808B2 (ja) * | 2001-04-13 | 2005-09-14 | 株式会社安川電機 | ウェハ搬送用ロボットの教示方法および教示用プレート |
DE10241742B4 (de) * | 2002-09-10 | 2008-06-26 | Alstom Technology Ltd. | Fertigungsanlage zum Herstellen von Produkten |
SE524818C2 (sv) * | 2003-02-13 | 2004-10-05 | Abb Ab | En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt |
JP2004299013A (ja) * | 2003-03-31 | 2004-10-28 | Fanuc Ltd | 誤差修正フィードバック機能を有するロボットオフラインプログラミング装置 |
JP4191080B2 (ja) * | 2004-04-07 | 2008-12-03 | ファナック株式会社 | 計測装置 |
EP1841570A1 (de) * | 2005-01-26 | 2007-10-10 | Abb Ab | Vorrichtung und verfahren zur kalibrierung des mittelpunkts von einem auf einem roboter angebrachtem werkzeug mithilfe einer kamera |
US7366583B2 (en) * | 2005-09-01 | 2008-04-29 | General Electric Company | Methods and systems for fabricating components |
DE102005050205A1 (de) * | 2005-10-20 | 2007-04-26 | Mtu Aero Engines Gmbh | Verfahren und Vorrichtung zum Kompensieren von Lage-und Formabweichungen |
-
2008
- 2008-03-17 DE DE602008002823T patent/DE602008002823D1/de active Active
- 2008-03-17 AT AT08735426T patent/ATE483185T1/de not_active IP Right Cessation
- 2008-03-17 WO PCT/EP2008/053162 patent/WO2008113783A2/en active Application Filing
- 2008-03-17 EP EP08735426A patent/EP2122422B1/de not_active Not-in-force
- 2008-03-18 WO PCT/EP2008/053241 patent/WO2008113807A2/en active Application Filing
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11656597B2 (en) | 2020-12-07 | 2023-05-23 | Industrial Technology Research Institute | Method and system for recognizing deburring trajectory |
Also Published As
Publication number | Publication date |
---|---|
WO2008113807A2 (en) | 2008-09-25 |
WO2008113807A3 (en) | 2008-11-06 |
EP2122422A2 (de) | 2009-11-25 |
WO2008113783A3 (en) | 2008-11-13 |
WO2008113783A2 (en) | 2008-09-25 |
DE602008002823D1 (de) | 2010-11-11 |
EP2122422B1 (de) | 2010-09-29 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
RER | Ceased as to paragraph 5 lit. 3 law introducing patent treaties |