CA1073111A - Method and apparatus for calibrating mechanical-visual part manipulating system - Google Patents
Method and apparatus for calibrating mechanical-visual part manipulating systemInfo
- Publication number
- CA1073111A CA1073111A CA261,838A CA261838A CA1073111A CA 1073111 A CA1073111 A CA 1073111A CA 261838 A CA261838 A CA 261838A CA 1073111 A CA1073111 A CA 1073111A
- Authority
- CA
- Canada
- Prior art keywords
- coordinate
- coordinate system
- angle
- vector
- manipulator
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired
Links
- 238000000034 method Methods 0.000 title claims description 28
- 239000013598 vector Substances 0.000 claims description 67
- 230000009466 transformation Effects 0.000 claims description 17
- 239000011159 matrix material Substances 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 5
- 238000005259 measurement Methods 0.000 description 11
- 238000013519 translation Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 5
- 150000002500 ions Chemical class 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- SZKKRCSOSQAJDE-UHFFFAOYSA-N Schradan Chemical compound CN(C)P(=O)(N(C)C)OP(=O)(N(C)C)N(C)C SZKKRCSOSQAJDE-UHFFFAOYSA-N 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 2
- 238000000844 transformation Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 241000022563 Rema Species 0.000 description 1
- 241000370991 Troides Species 0.000 description 1
- 101150095130 URAD gene Proteins 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005555 metalworking Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- ZLIBICFPKPWGIZ-UHFFFAOYSA-N pyrimethanil Chemical class CC1=CC(C)=NC(NC=2C=CC=CC=2)=N1 ZLIBICFPKPWGIZ-UHFFFAOYSA-N 0.000 description 1
- 241000894007 species Species 0.000 description 1
- BGRJTUBHPOOWDU-UHFFFAOYSA-N sulpiride Chemical compound CCN1CCCC1CNC(=O)C1=CC(S(N)(=O)=O)=CC=C1OC BGRJTUBHPOOWDU-UHFFFAOYSA-N 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US05/636,069 US3986007A (en) | 1975-08-20 | 1975-11-28 | Method and apparatus for calibrating mechanical-visual part manipulating system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1073111A true CA1073111A (en) | 1980-03-04 |
Family
ID=24550294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA261,838A Expired CA1073111A (en) | 1975-11-28 | 1976-09-22 | Method and apparatus for calibrating mechanical-visual part manipulating system |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JPS5267355A (enrdf_load_stackoverflow) |
| AU (1) | AU503000B2 (enrdf_load_stackoverflow) |
| CA (1) | CA1073111A (enrdf_load_stackoverflow) |
| DE (1) | DE2649608A1 (enrdf_load_stackoverflow) |
| FR (1) | FR2332843A1 (enrdf_load_stackoverflow) |
| GB (1) | GB1518244A (enrdf_load_stackoverflow) |
Families Citing this family (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5414763A (en) * | 1977-07-05 | 1979-02-03 | Mitsutoyo Seisakusho | Coordinate measuring display system |
| CH627959A5 (de) * | 1977-10-04 | 1982-02-15 | Bbc Brown Boveri & Cie | Verfahren und einrichtung zur drehlagebestimmung von gegenstaenden. |
| JPS5630609A (en) * | 1979-08-21 | 1981-03-27 | Kosaka Kenkyusho:Kk | Polar coordinate recorder |
| US4468695A (en) * | 1980-11-20 | 1984-08-28 | Tokico Ltd. | Robot |
| JPS57192807A (en) * | 1981-05-25 | 1982-11-27 | Hitachi Ltd | Centering method |
| GB2123172B (en) * | 1982-07-06 | 1986-10-22 | Emi Ltd | A robot control system |
| EP0108511A3 (en) * | 1982-11-04 | 1985-12-18 | EMI Limited | Improvements in or relating to robot control systems |
| DE3246828C2 (de) * | 1982-12-17 | 1987-04-02 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München | Mobile Transport- und Handhabungseinrichtung |
| DE3306888A1 (de) * | 1983-02-26 | 1984-09-13 | GdA Gesellschaft für digitale Automation mbH, 8000 München | Verfahren und vorrichtung zum erfassen und kompensieren der bahnabweichung eines industrieroboters |
| IN161120B (enrdf_load_stackoverflow) * | 1983-03-30 | 1987-10-03 | Wyler Ag | |
| JPS60159905A (ja) * | 1984-01-30 | 1985-08-21 | Hitachi Ltd | 視覚を備えたロボツトの制御装置 |
| JPS6138511A (ja) * | 1984-07-31 | 1986-02-24 | Toyo Electric Mfg Co Ltd | 立体物の座標測定方式 |
| DE3445849A1 (de) * | 1984-12-15 | 1986-06-19 | Dürr Automation + Fördertechnik GmbH, 7889 Grenzach-Wyhlen | Industrie-roboter |
| JPH07104153B2 (ja) * | 1985-09-24 | 1995-11-13 | 株式会社ニコン | 駆動装置 |
| FI101689B1 (fi) * | 1993-06-17 | 1998-08-14 | Robotic Technology Systems Fin | Menetelmä kappaleen käsittelemiseksi |
| FI955274A7 (fi) * | 1995-11-03 | 1997-05-04 | Robotic Technology Systems Fin | Työstösolu ja menetelmä kappaleen työstämiseksi |
| RU2185953C1 (ru) * | 2001-02-02 | 2002-07-27 | Акционерное общество "АвтоВАЗ" | Стенд для контроля точности контурных перемещений промышленного робота |
| RU2299800C1 (ru) * | 2005-11-03 | 2007-05-27 | Государственное образовательное учреждение высшего профессионального образования Марийский государственный технический университет | Способ энергообеспечения автономных мобильных роботов |
| CN101572029B (zh) | 2008-04-28 | 2012-01-25 | 鸿富锦精密工业（深圳）有限公司 | 机器人板材折弯模拟系统及方法 |
| RU2472612C1 (ru) * | 2011-06-01 | 2013-01-20 | Российская Федерация, От Имени Которой Выступает Министерство Промышленности И Торговли Российской Федерации | Стенд для контроля точности контурных перемещений промышленного робота |
| RU2641604C1 (ru) * | 2016-12-28 | 2018-01-18 | Федеральное государственное автономное образовательное учреждение высшего образования "Дальневосточный федеральный университет" (ДВФУ) | Способ измерения абсолютного положения конечного звена многозвенного механизма промышленного робота |
| CN107553493A (zh) * | 2017-09-22 | 2018-01-09 | 东南大学 | 一种基于拉绳位移传感器的机器人运动学参数标定方法 |
| RU2721769C1 (ru) * | 2019-08-28 | 2020-05-22 | Федеральное государственное автономное образовательное учреждение высшего образования "Национальный исследовательский Томский политехнический университет" | Стенд для контроля контурных перемещений гибкого манипулятора |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4017721A (en) * | 1974-05-16 | 1977-04-12 | The Bendix Corporation | Method and apparatus for determining the position of a body |
-
1976
- 1976-09-22 CA CA261,838A patent/CA1073111A/en not_active Expired
- 1976-10-20 GB GB4355576A patent/GB1518244A/en not_active Expired
- 1976-10-29 DE DE19762649608 patent/DE2649608A1/de not_active Ceased
- 1976-11-10 AU AU19495/76A patent/AU503000B2/en not_active Expired
- 1976-11-10 FR FR7633832A patent/FR2332843A1/fr active Granted
- 1976-11-26 JP JP14138676A patent/JPS5267355A/ja active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| AU1949576A (en) | 1978-05-18 |
| FR2332843A1 (fr) | 1977-06-24 |
| DE2649608A1 (de) | 1977-06-08 |
| FR2332843B1 (enrdf_load_stackoverflow) | 1981-06-12 |
| AU503000B2 (en) | 1979-08-16 |
| GB1518244A (en) | 1978-07-19 |
| JPS5267355A (en) | 1977-06-03 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKEX | Expiry |