BR112014007077A2 - "método para calibração de robôs e método para converter um programa de trabalho" - Google Patents

"método para calibração de robôs e método para converter um programa de trabalho"

Info

Publication number
BR112014007077A2
BR112014007077A2 BR112014007077A BR112014007077A BR112014007077A2 BR 112014007077 A2 BR112014007077 A2 BR 112014007077A2 BR 112014007077 A BR112014007077 A BR 112014007077A BR 112014007077 A BR112014007077 A BR 112014007077A BR 112014007077 A2 BR112014007077 A2 BR 112014007077A2
Authority
BR
Brazil
Prior art keywords
robot calibration
converting
robot
work program
calibration
Prior art date
Application number
BR112014007077A
Other languages
English (en)
Inventor
Hallundbaek Østergaard Esben
Gordon Petersen Henrik
Søe-Knudsen Rune
Original Assignee
Universal Robots As
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 Universal Robots As filed Critical Universal Robots As
Publication of BR112014007077A2 publication Critical patent/BR112014007077A2/pt

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
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • 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
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • 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
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39049—Calibration cooperating manipulators, closed kinematic chain by bolting
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/03—Teaching system
    • Y10S901/05—Machine driven lead through

Abstract

resumo patente de invenção: "calibração e programação de robôs". a presente invenção refere-se a um método de calibração de robôs sem o uso de equipamento de medição externa. a invenção, além disso, refere-se a um método de copiar programas de trabalho entre robôs não calibrados. ambos os métodos utilizam propriedades de uma cadeia fechada e a posição relativa dos ligamentos na cadeia a fim de atualizar os modelos cinéticos dos robôs.
BR112014007077A 2011-09-28 2012-09-18 "método para calibração de robôs e método para converter um programa de trabalho" BR112014007077A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201161540150P 2011-09-28 2011-09-28
PCT/EP2012/068337 WO2013045314A1 (en) 2011-09-28 2012-09-18 Calibration and programming of robots

Publications (1)

Publication Number Publication Date
BR112014007077A2 true BR112014007077A2 (pt) 2017-04-11

Family

ID=47073408

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112014007077A BR112014007077A2 (pt) 2011-09-28 2012-09-18 "método para calibração de robôs e método para converter um programa de trabalho"

Country Status (11)

Country Link
US (2) US9248573B2 (pt)
EP (2) EP2796249B1 (pt)
JP (1) JP6182143B2 (pt)
KR (1) KR102050895B1 (pt)
CN (2) CN103889663B (pt)
BR (1) BR112014007077A2 (pt)
DK (2) DK2796249T3 (pt)
MX (1) MX343142B (pt)
RU (1) RU2605393C2 (pt)
SG (2) SG10201502615QA (pt)
WO (1) WO2013045314A1 (pt)

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SG11201400923QA (en) 2014-04-28
KR102050895B1 (ko) 2020-01-08
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DK2796249T3 (en) 2016-03-07
SG10201502615QA (en) 2015-05-28
EP2796249B1 (en) 2015-12-30
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US9248573B2 (en) 2016-02-02
US9833897B2 (en) 2017-12-05
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MX343142B (es) 2016-10-26
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DK2760642T3 (en) 2016-01-11
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US20130079928A1 (en) 2013-03-28
CN103889663A (zh) 2014-06-25
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RU2605393C2 (ru) 2016-12-20
EP2760642B1 (en) 2015-11-18
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