CA2751878A1 - Measurement of positional information for a robot arm - Google Patents
Measurement of positional information for a robot arm Download PDFInfo
- Publication number
- CA2751878A1 CA2751878A1 CA2751878A CA2751878A CA2751878A1 CA 2751878 A1 CA2751878 A1 CA 2751878A1 CA 2751878 A CA2751878 A CA 2751878A CA 2751878 A CA2751878 A CA 2751878A CA 2751878 A1 CA2751878 A1 CA 2751878A1
- Authority
- CA
- Canada
- Prior art keywords
- projector
- light
- relative
- axes
- light ray
- 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.)
- Abandoned
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 36
- 238000003384 imaging method Methods 0.000 claims description 38
- 238000000034 method Methods 0.000 claims description 36
- 230000003287 optical effect Effects 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 description 19
- 238000012545 processing Methods 0.000 description 6
- 210000000707 wrist Anatomy 0.000 description 6
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000013598 vector Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
-
- 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
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
-
- 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
- G05B2219/37571—Camera detecting reflected light from laser
-
- 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
- G05B2219/40611—Camera to monitor endpoint, end effector position
-
- 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
- G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
-
- 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
- G05B2219/40623—Track position of end effector by laser beam
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB0902625A GB0902625D0 (en) | 2009-02-17 | 2009-02-17 | Measurement of positional information |
| GB0902625.3 | 2009-02-17 | ||
| GB0918245A GB0918245D0 (en) | 2009-10-19 | 2009-10-19 | Measurement of positional information for a robot arm |
| GB0918245.2 | 2009-10-19 | ||
| PCT/GB2010/050249 WO2010094949A1 (en) | 2009-02-17 | 2010-02-16 | Measurement of positional information for a robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2751878A1 true CA2751878A1 (en) | 2010-08-26 |
Family
ID=42152522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2751878A Abandoned CA2751878A1 (en) | 2009-02-17 | 2010-02-16 | Measurement of positional information for a robot arm |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US20110317879A1 (enExample) |
| EP (1) | EP2399145A1 (enExample) |
| JP (1) | JP5695578B2 (enExample) |
| KR (1) | KR20110133477A (enExample) |
| CN (1) | CN102395898A (enExample) |
| CA (1) | CA2751878A1 (enExample) |
| WO (1) | WO2010094949A1 (enExample) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8923603B2 (en) * | 2007-08-17 | 2014-12-30 | Renishaw Plc | Non-contact measurement apparatus and method |
| WO2010013556A1 (ja) * | 2008-07-30 | 2010-02-04 | アイシン・エィ・ダブリュ株式会社 | 駆動装置および車両 |
| GB0915904D0 (en) | 2009-09-11 | 2009-10-14 | Renishaw Plc | Non-contact object inspection |
| WO2013091596A1 (de) | 2011-12-19 | 2013-06-27 | Isios Gmbh | Anordnung und verfahren zur modellbasierten kalibration eines roboters in einem arbeitsraum |
| DE102012016106A1 (de) | 2012-08-15 | 2014-02-20 | Isios Gmbh | Anordnung und Verfahren zur modellbasierten Kalibration eines Roboters in einem Arbeitsraum |
| CZ306033B6 (cs) * | 2012-02-13 | 2016-07-07 | ÄŚVUT v Praze, Fakulta strojnĂ | Způsob nastavení polohy manipulačních ramen na nosném rámu a manipulační ramena pro uchycení technologických nebo měřicích prostředků |
| DE102012014312A1 (de) * | 2012-07-19 | 2014-05-15 | Kuka Roboter Gmbh | Robotergeführte Messanordnung |
| EP2722136A1 (en) * | 2012-10-19 | 2014-04-23 | inos Automationssoftware GmbH | Method for in-line calibration of an industrial robot, calibration system for performing such a method and industrial robot comprising such a calibration system |
| CN105452894B (zh) * | 2013-06-13 | 2019-04-30 | 巴斯夫欧洲公司 | 用于光学地检测至少一个对象的检测器 |
| US9476695B2 (en) * | 2013-07-03 | 2016-10-25 | Faro Technologies, Inc. | Laser tracker that cooperates with a remote camera bar and coordinate measurement device |
| US9157795B1 (en) * | 2013-07-16 | 2015-10-13 | Bot & Dolly, Llc | Systems and methods for calibrating light sources |
| US9731392B2 (en) * | 2014-08-05 | 2017-08-15 | Ati Industrial Automation, Inc. | Robotic tool changer alignment modules |
| US20160243703A1 (en) | 2015-02-19 | 2016-08-25 | Isios Gmbh | Arrangement and method for the model-based calibration of a robot in a working space |
| JP6665040B2 (ja) | 2016-06-20 | 2020-03-13 | 三菱重工業株式会社 | ロボット制御システム及びロボット制御方法 |
| CN108226946A (zh) * | 2018-01-23 | 2018-06-29 | 中国航空工业集团公司洛阳电光设备研究所 | 激光测距机及其信号单元底座 |
| CN109238247B (zh) * | 2018-07-15 | 2021-07-02 | 天津大学 | 一种面向大空间复杂现场的六自由度测量方法 |
| CN110065072B (zh) * | 2019-05-21 | 2021-04-20 | 西南交通大学 | 机器人重复定位精度的验证方法 |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60200103A (ja) * | 1984-03-26 | 1985-10-09 | Hitachi Ltd | 光切断線抽出回路 |
| US5059789A (en) * | 1990-10-22 | 1991-10-22 | International Business Machines Corp. | Optical position and orientation sensor |
| JPH08240442A (ja) * | 1995-03-01 | 1996-09-17 | Naotake Mori | 多自由度角度及び変位測定機能を持つ受動式関節 |
| JP4016526B2 (ja) * | 1998-09-08 | 2007-12-05 | 富士ゼロックス株式会社 | ３次元物体識別装置 |
| US7239399B2 (en) * | 2001-11-13 | 2007-07-03 | Cyberoptics Corporation | Pick and place machine with component placement inspection |
| DE10252082A1 (de) * | 2002-11-08 | 2004-05-27 | Carl Zeiss | Positionsbestimmungssystem, Positionsbestimmungsverfahren und Bearbeitungssystem |
| DE602007011045D1 (de) * | 2006-04-20 | 2011-01-20 | Faro Tech Inc | Kamerabasierte vorrichtung zur zielmessung und zielverfolgung mit sechs freiheitsgraden |
| KR101477481B1 (ko) * | 2007-03-05 | 2014-12-30 | 이노스 오토메이션스소프트웨어 게엠베하 | 위치 결정 장치 및 방법 |
| US8923603B2 (en) * | 2007-08-17 | 2014-12-30 | Renishaw Plc | Non-contact measurement apparatus and method |
-
2010
- 2010-02-16 EP EP10706729A patent/EP2399145A1/en not_active Withdrawn
- 2010-02-16 CN CN2010800172864A patent/CN102395898A/zh active Pending
- 2010-02-16 US US13/201,453 patent/US20110317879A1/en not_active Abandoned
- 2010-02-16 JP JP2011549679A patent/JP5695578B2/ja not_active Expired - Fee Related
- 2010-02-16 WO PCT/GB2010/050249 patent/WO2010094949A1/en not_active Ceased
- 2010-02-16 KR KR1020117021604A patent/KR20110133477A/ko not_active Ceased
- 2010-02-16 CA CA2751878A patent/CA2751878A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| WO2010094949A1 (en) | 2010-08-26 |
| EP2399145A1 (en) | 2011-12-28 |
| US20110317879A1 (en) | 2011-12-29 |
| JP2012517907A (ja) | 2012-08-09 |
| CN102395898A (zh) | 2012-03-28 |
| JP5695578B2 (ja) | 2015-04-08 |
| KR20110133477A (ko) | 2011-12-12 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20150114 |
|
| FZDE | Discontinued |
Effective date: 20170216 |