CN101097132A - Workpieces reference frame marking method based on relative measurement - Google Patents
Workpieces reference frame marking method based on relative measurement Download PDFInfo
- Publication number
- CN101097132A CN101097132A CNA2006100908017A CN200610090801A CN101097132A CN 101097132 A CN101097132 A CN 101097132A CN A2006100908017 A CNA2006100908017 A CN A2006100908017A CN 200610090801 A CN200610090801 A CN 200610090801A CN 101097132 A CN101097132 A CN 101097132A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- value
- wobj
- workpieces
- actual
- 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.)
- Granted
Links
Images
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a workpiece reference frame marking method which is based on relative measurement which is used to mark workpiece reference frame whose precision and work precision are higher; the method controls movement of robot by marking position of measuring device and original value of workpiece reference frame, and generating surface process path on surface of dummy surface, records offset of said object point by measuring coordinate of said object point, by resolving conversion matrix between original value and real value of said workpiece reference frame to accomplish marking of said workpiece reference frame; by the method, measurement can be simplified, system error of robot can be compensated, marking precision of robot reference frame and working precision can be increased.
Description
Technical field
The present invention relates to the pose calibration technique field of workpiece, the scaling method of workpieces coordinate system among particularly a kind of robot field.
Background technology
It is robot field's gordian technique that coordinate system is demarcated, and its task is to determine the position of workpiece, instrument etc. in the processing of robots system.General workpiece calibration algorithm can be called the algorithm based on absolute measurement; This class algorithm is that measurement point is converted to robot end's coordinate system (Tool
0) under coordinate (workpiece is fixed on robot end's situation) or be converted to coordinate (workpiece is fixed in the situation of world coordinate system) under the world coordinate system; Then, demarcate the location of workpiece with other algorithm such as least square method again.The method of absolute measurement can be finished the location of workpieces coordinate system pose (Wobj) to a certain extent, but, in the absolute measurement process, have the systematic error of robot and measuring system calibrated error etc., this makes scaling method of the prior art accurate inadequately for the demarcation of these location of workpieces.
Summary of the invention
Technical matters to be solved by this invention provides a kind of stated accuracy and the higher workpieces coordinate system scaling method based on relative measurement of homework precision.
For solving the problems of the technologies described above, the technical scheme that the present invention takes provides a kind of workpieces coordinate system scaling method based on relative measurement, it is characterized in that, comprising:
A1. the relative zero of calibration measurements device and the position between robot base coordinate sys-tem relation is fixed described workpiece described robot end, wherein, and described measurement mechanism and described robot base stationkeeping;
A2. workpieces coordinate system is tentatively demarcated, obtained the initial value of described workpieces coordinate system pose;
A3. generate the surface working path on the surface of the three-dimensional model of described workpiece, the point on the wherein said path is called impact point;
A4. measure the coordinate of described impact point by described measurement mechanism with respect to described measurement mechanism relative zero;
A5. initial value by finding the solution described workpieces coordinate system pose and the transition matrix between the actual value are finished the demarcation of described workpieces coordinate system.
Preferably, described workpieces coordinate system is tentatively demarcated is that method by absolute measurement is carried out.
Preferably, generating the surface working path on the surface of described workpiece three-dimensional model in the steps A 3 is to realize by off-line programming technique.
Preferably, steps A 5 further comprises: utilize least square method to make described side-play amount minimum, and then obtain the initial value of described workpieces coordinate system pose and the transition matrix between the actual value.
Preferably, technique scheme can also comprise step: A6. with the calibration value of the described workpieces coordinate system that obtains in the steps A 5 as initial value, repeating step A4 finally finishes the accurate demarcation to described workpieces coordinate system.
The another kind of technical scheme that the present invention takes provides a kind of workpieces coordinate system scaling method based on relative measurement, it is characterized in that, comprising:
B1. the position between the relative zero of calibration measurements device and robot end's coordinate system relation, wherein, described measurement mechanism is fixed in the end of described robot, and described workpiece and described robot location fix;
B2. workpieces coordinate system is tentatively demarcated, obtained the initial value of described workpieces coordinate system pose;
B3. generate the surface working path on the surface of the three-dimensional model of described workpiece, the point on the wherein said path is called impact point;
B4. measure the coordinate of described impact point by described measurement mechanism with respect to described measurement mechanism relative zero;
B5. initial value by finding the solution described workpieces coordinate system pose and the transition matrix between the actual value are finished the demarcation of described workpieces coordinate system.
Preferably, described workpieces coordinate system is tentatively demarcated is that method by absolute measurement is carried out.
Preferably, generating the surface working path on the surface of described workpiece three-dimensional model among the step B3 is to realize by off-line programming technique.
Preferably, step B5 further comprises: utilize least square method to make described side-play amount minimum, and then obtain the initial value of described workpieces coordinate system pose and the transition matrix between the actual value.
Preferably, technique scheme can also comprise step: B6. with the calibration value of the described workpieces coordinate system that obtains among the step B5 as initial value, repeating step B4 finally finishes the accurate demarcation to described workpieces coordinate system.
Compare with prior art, technical scheme of the present invention has the following advantages:
1. can use contact and noncontact measurement device as survey instrument, as a Laser Measuring measuring device etc., measuring process is simple;
2. need not to obtain the absolute coordinate of measurement point, only need the deviate and the nonlinear least square method of utilization relative measurement to compensate and calculate the demarcation that can realize workpieces coordinate system, operating process is easy, quick, and the result is accurate;
3. in the error compensation process, local equalize the robot system error, improved the homework precision of robot coordinate system stated accuracy and final system.
Description of drawings
Fig. 1 is the structural drawing of embodiment of the present invention;
Fig. 2 is the process flow diagram of embodiment of the present invention;
Fig. 3 is the structural drawing of second kind of embodiment of the present invention;
Fig. 4 is the process flow diagram of second kind of embodiment of the present invention;
Embodiment
Core concept of the present invention is: demarcate the initial value of workpieces coordinate system pose (Wobj), utilize the initial value of Wobj and the transition matrix between the actual value, finish the demarcation of workpieces coordinate system.
With reference to Fig. 1, be the structural drawing of embodiment of the present invention;
As shown in the figure, comprise robot 10, measurement mechanism 11, workpiece 12, wherein the pedestal 101 of robot 10 and measurement mechanism 11 are fixing respectively, and it is medium for example to be fixed on world coordinate system, and workpiece 12 is fixed in the end 102 of robot 10.
With reference to Fig. 2, be the process flow diagram of embodiment of the present invention;
Because measurement mechanism 11 is relative static with robot base 101, the position orientation relation that utilizes known calibration technique can finish between measurement mechanism 11 and the robot base 101 is demarcated, and supposes that it is
BT
MWorkpiece 12 is fixed in robot end 102, so that robot 10 carries out the editor of measuring route to it.
Preferably, can be by method or additive method based on absolute measurement, workpiece 12 coordinate systems are tentatively demarcated, for example:, finish preliminary demarcation workpiece 12 coordinate systems by the position of measuring workpieces 12 surface characteristics points under robot end's 102 coordinate systems.
Preferably, can be by technology such as off-line programings, generate the surface working path on the surface of the three-dimensional model of workpiece 12, wherein, the point on the path is called impact point (Target).
According to tool location (the relative zero position of described measurement mechanism is made as tool location), workpiece 12 coordinate system pose initial values and workpiece 12 surperficial impact points, control robot 10 holding workpieces 12 move to described impact point, measure the coordinate of described impact point with respect to measurement mechanism 11 relative zeros by measurement mechanism 11, this coordinate is the side-play amount of impact point.
Because have error between the Wobj of initial Wobj and reality, so when each Target ran to measurement mechanism 11 relative zeros, what measure was practical work piece 12 lip-deep points, this coordinate and ideal situation in measurement mechanism 11 has deviation.And each measured value be exactly actual impact point with the impact point of theory between side-play amount (Offsets); The utilization least square method makes the Offsets minimum, obtains the transition matrix between actual Wobj and the initial Wobj, and then obtains the Wobj of reality.
Wherein, suppose that the relative measurement value that measurement mechanism 11 records is that actual impact point (impact point in the Wobj of reality) arrives the distance value (impact point in initial Wobj has error amount between the impact point of this impact point and reality) between the theoretical impact point; This supposition has been ignored two to the very little factor of result's influence: the skew of instrument calibrated error and the measurement point that caused by initial Wobj and instrument calibrated error (actual measurement to point departed from desirable measurement point).
Find the solution the transition matrix of actual Wobj with least square method with respect to initial Wobj:
Actual target point with respect to the transformational relation of the transition matrix of expectation target point (impact point under initial Wobj) is:
IdealTargetTxyz＝TargetM
-1*Accurate Wobj
-1*Initial Wobj*TargetM
Wherein, TargetM is the pose matrixes of workpiece 12 surperficial impact points with respect to workpiece 12 coordinate systems, and Accurate Wobj is actual accurate workpiece 12 coordinate system pose matrixes, and Initial Wobj is initial workpiece 12 coordinate system pose matrixes.
Here actual accurate Wobj value is:
Accurate Wobj＝Transform*Initial Wobj
Actual target point is closed with respect to the position of expectation target point:
IdealTargetTxyz(3)＝Offset
Wherein IdealTargetTxyz (3) is the value (being the Z value) of the 3rd element of vectorial IdealTargetTxyz, and Offset is the relative value that measuring equipment records; The utilization nonlinear least square method can solve transition matrix Transform, and then obtains actual Wobj value.
The present invention can also be with the Wobj value of above-mentioned reality as initial value, and repeating step 204 is finally finished the accurate demarcation to workpiece 12 coordinate systems to carry out repeatedly interative computation.
With reference to Fig. 3, be the structural drawing of second kind of embodiment of the present invention;
As shown in the figure, the difference of present embodiment and above preferred embodiment is: the location swap of workpiece 12 and measurement mechanism 11, and promptly workpiece 12 stationkeeping are static relatively with robot 10, and 11 of measurement mechanisms are fixed in robot end 102.
With reference to Fig. 4, be the process flow diagram of second kind of embodiment of the present invention;
Step 401 is fixed on the robot end with measurement mechanism, the position relation between the relative zero of calibration measurements device and robot end's coordinate system;
Because measurement mechanism 11 is fixed on robot end's 102 coordinate systems, the position orientation relation that utilizes known calibration technique can finish between measurement mechanism 11 and the robot end 102 is demarcated, and supposes that it is
Tool0T
M
Step 402 is tentatively demarcated workpieces coordinate system, obtains the initial value of described workpieces coordinate system pose;
Preferably, can be by method or additive method based on absolute measurement, workpiece 12 coordinate systems are tentatively demarcated, for example:, finish preliminary demarcation workpieces coordinate system by the position of measuring workpieces 12 surface characteristics points under robot base 101 coordinate systems.
Step 403 generates the surface working path on the surface of the three-dimensional model of described workpiece;
Preferably, can be by technology such as off-line programings, generate the surface working path on the surface of the three-dimensional model of workpiece 12, wherein, the point on the path is called impact point (Target).
Step 404 is measured the coordinate of described impact point with respect to this measurement mechanism relative zero by measurement mechanism;
According to tool location (the relative zero position of described measurement mechanism is made as tool location), workpieces coordinate system pose initial value and surface of the work impact point, control robot 10 clamping measurement mechanisms 11 move to described impact point, measure the coordinate of described impact point with respect to measurement mechanism 11 relative zeros by measurement mechanism 11, this coordinate is the side-play amount of impact point.
Because have error between the Wobj of initial Wobj and reality, so when the measured device 11 of each Target measured, what measure was practical work piece 12 lip-deep points, this coordinate and ideal situation in measurement mechanism 11 has deviation.And each measured value be exactly actual impact point with the impact point of theory between side-play amount (Offsets); The utilization least square method makes the Offsets minimum, obtains the transition matrix between actual Wobj and the initial Wobj, and then obtains the Wobj of reality.
The present invention can also be with the Wobj value of above-mentioned reality as initial value, and repeating step 604 is finally finished the accurate demarcation to workpiece 12 coordinate systems to carry out repeatedly interative computation.
The process that the derivation of relative theory and transition matrix is described with step 205 among the embodiment 1 is identical, therefore repeats no more.
By the method that above-mentioned two kinds of embodiments are described workpiece 12 is demarcated, its implementation result is as shown in the table:
| The workpiece coordinate initial value | Represent ([x, y, z], [q1, q2, q3, q4]) [1.228,30.157,181.091], [0.006407047,0.000814095 ,-0.007014788 ,-0.999954539] with the plain method of quaternary | |||||
| Relative measurement value before demarcating | The relative measurement value (mm) of impact point on the path 1 | 2.52 | 2.63 | 2.70 | 3.03 | 3.24 |
| 3.71 | 3.90 | 4.22 | 4.49 | 4.64 | ||
| The relative measurement value (mm) of impact point on the path 2 | 2.41 | 2.56 | 2.62 | 2.64 | 2.65 | |
| 2.72 | 2.35 | 2.20 | 2.08 | 2.01 | ||
| 2.03 | ||||||
| The calibration result of workpiece coordinate | Represent ([x, y, z], [q1, q2, q3, q4]) [2.21,30.03,181.45], [0.002322673 ,-0.003616032,0.000795252,0.999990448] with the plain method of quaternary | |||||
| Calibrated relative measurement value | The relative measurement value (mm) of impact point on the path 1 | 4.46 | 4.49 | 4.50 | 4.45 | 4.45 |
| 4.43 | 4.40 | 4.43 | 4.40 | 4.40 | ||
| The relative measurement value (mm) of impact point on the path 2 | 4.45 | 4.46 | 4.48 | 4.45 | 4.48 | |
| 4.48 | 4.49 | 4.56 | 4.56 | 4.59 | ||
| 4.55 | ||||||
Before workpiece is demarcated, workpiece 12 impact points that measurement mechanism 11 measures to the distance fluctuation at 11 zero points of measurement mechanism have 2,3mm, after the demarcation, workpiece 12 impact points that measurement mechanism 11 measures to measurement mechanism zero point apart from fluctuating in ± 0.1mm.Result of implementation shows that the present invention has compensated systematic error well, has realized the demarcation to workpieces coordinate system.
More than used specific case principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (12)
1. the workpieces coordinate system scaling method based on relative measurement is characterized in that, comprising:
101. the relative zero of calibration measurements device and the relation of the position between robot base coordinate sys-tem, at the fixing described workpiece of described robot end, wherein, described measurement mechanism and described robot base stationkeeping;
102. workpieces coordinate system is tentatively demarcated, is obtained the initial value of described workpieces coordinate system pose;
103. the surface at the three-dimensional model of described workpiece generates the surface working path, the point on the wherein said path is called impact point;
104. measure the coordinate of described impact point with respect to described measurement mechanism relative zero by described measurement mechanism;
105. initial value by finding the solution described workpieces coordinate system pose and the transition matrix between the actual value are finished the demarcation of described workpieces coordinate system.
2. the method for claim 1 is characterized in that, described workpieces coordinate system is tentatively demarcated is that method by absolute measurement is carried out.
3. the method for claim 1 is characterized in that, generating the surface working path on the surface of described workpiece three-dimensional model in the step 103 is to realize by off-line programming technique.
4. the method for claim 1 is characterized in that, step 105 further comprises: utilize least square method to make described side-play amount minimum, and then obtain the initial value of described workpieces coordinate system pose and the transition matrix between the actual value.
5. as claim 1 or 4 described methods, it is characterized in that, describedly find the solution the initial value of described workpieces coordinate system pose and the process of the transition matrix between the actual value is:
Find the solution the transition matrix of actual Wobj with least square method with respect to initial Wobj:
Actual target point with respect to the transformational relation of the transition matrix of expectation target point is:
IdealTargetTxyz＝TargetM
-1*Accurate Wobj
-1*Initial Wobj*TargetM
Here actual accurate Wobj value is:
Accurate Wobj＝Transform*Initial Wobj
Actual target point is closed with respect to the position of expectation target point:
IdealTargetTxyz(3)＝Offset
Wherein IdealTargetTxyz (3) is the value (being the Z value) of the 3rd element of vectorial IdealTargetTxyz, and Offset is the relative value that measuring equipment records; The utilization nonlinear least square method can solve transition matrix Transform.
6. the method for claim 1 is characterized in that also comprising step:
106. as initial value, repeating step 104 is finally finished the accurate demarcation to described workpieces coordinate system with the calibration value of the described workpieces coordinate system that obtains in the step 105.
7. the workpieces coordinate system scaling method based on relative measurement is characterized in that, comprising:
701. the position between the relative zero of calibration measurements device and robot end's coordinate system relation, wherein, described measurement mechanism is fixed in the end of described robot, and described workpiece and described robot location fix;
702. workpieces coordinate system is tentatively demarcated, is obtained the initial value of described workpieces coordinate system pose;
703. the surface at the three-dimensional model of described workpiece generates the surface working path, the point on the wherein said path is called impact point;
704. measure the coordinate of described impact point with respect to described measurement mechanism relative zero by described measurement mechanism;
705. initial value by finding the solution described workpieces coordinate system pose and the transition matrix between the actual value are finished the demarcation of described workpieces coordinate system.
8. method as claimed in claim 7 is characterized in that, described workpieces coordinate system is tentatively demarcated is that method by absolute measurement is carried out.
9. method as claimed in claim 7 is characterized in that, generating the surface working path on the surface of described workpiece three-dimensional model in the step 703 is to realize by off-line programming technique.
10. method as claimed in claim 7 is characterized in that step 705 further comprises: utilize least square method to make described side-play amount minimum, and then obtain the initial value of described workpieces coordinate system pose and the transition matrix between the actual value.
11. as any described method in the claim 7 to 10, it is characterized in that, describedly find the solution the initial value of described workpieces coordinate system pose and the process of the transition matrix between the actual value is:
Find the solution the transition matrix of actual Wobj with least square method with respect to initial Wobj:
Actual target point with respect to the transformational relation of the transition matrix of expectation target point is:
IdealTargetTxyz=TargetM
-1* Accurate Wobj
-1* the actual here accurate Wobj value of Initial Wobj*TargetM is:
Accurate Wobj＝Transform*Initial Wobj
Actual target point is closed with respect to the position of expectation target point:
IdealTargetTxyz(3)＝Offset
Wherein IdealTargetTxyz (3) is the value (being the Z value) of the 3rd element of vectorial IdealTargetTxyz, and Offset is the relative value that measuring equipment records; The utilization nonlinear least square method can solve transition matrix Transform.
12. method as claimed in claim 7 is characterized in that also comprising step:
706. as initial value, repeating step 704 is finally finished the accurate demarcation to described workpieces coordinate system with the calibration value of the described workpieces coordinate system that obtains in the step 705.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100908017A CN100489449C (en) | 2006-06-30 | 2006-06-30 | Workpieces coordinate system calibration method based on relative measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100908017A CN100489449C (en) | 2006-06-30 | 2006-06-30 | Workpieces coordinate system calibration method based on relative measurement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101097132A true CN101097132A (en) | 2008-01-02 |
| CN100489449C CN100489449C (en) | 2009-05-20 |
Family
ID=39011129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100908017A Expired - Fee Related CN100489449C (en) | 2006-06-30 | 2006-06-30 | Workpieces coordinate system calibration method based on relative measurement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100489449C (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102200429A (en) * | 2011-04-06 | 2011-09-28 | 西安交通大学 | Precision detection method for numerical control machine based on laser-tracking combined measurement |
| CN103759635A (en) * | 2013-12-25 | 2014-04-30 | 合肥工业大学 | Scanning measurement robot detection method allowing precision to be irrelevant to robot |
| CN103808285A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Calibration method of pre-alignment machine and mechanical arm relative coordinate system |
| CN105157567A (en) * | 2015-05-15 | 2015-12-16 | 天津智通机器人有限公司 | Tool coordinate system calibration method and system for measurement robot |
| CN104215206B (en) * | 2014-09-28 | 2017-01-11 | 东南大学 | Base coordinate calibration method of two-robot collaboration system |
| CN107121108A (en) * | 2017-06-06 | 2017-09-01 | 湖北工业大学 | It is a kind of fast to sentence robot tool coordinate system scaling method by mistake certainly |
| WO2018085984A1 (en) * | 2016-11-08 | 2018-05-17 | Abb Schweiz Ag | Method for work piece calibration and robot system using the same |
| CN110006341A (en) * | 2019-04-04 | 2019-07-12 | 北京卫星制造厂有限公司 | A kind of bracket processing technology out of my cabin based on multimetering feedback |
| CN110434679A (en) * | 2019-07-25 | 2019-11-12 | 王东 | A kind of Intelligent Machining method for the workpiece with random size error |
| CN112008696A (en) * | 2020-09-07 | 2020-12-01 | 菲尼克斯(南京)智能制造技术工程有限公司 | Industrial robot system based on vision |
| CN113246145A (en) * | 2021-07-02 | 2021-08-13 | 杭州景业智能科技股份有限公司 | Pose compensation method and system for nuclear industry grabbing equipment and electronic device |
| CN113280767A (en) * | 2021-04-29 | 2021-08-20 | 东华大学 | Workpiece rapid automatic positioning method based on non-concentric circles |
| CN113313444A (en) * | 2021-04-19 | 2021-08-27 | 安吉智能物联技术有限公司 | Forklift real-time positioning system and method for logistics warehouse |
| CN113814870A (en) * | 2021-09-29 | 2021-12-21 | 中国工程物理研究院机械制造工艺研究所 | Method for measuring and calculating pose of magnetorheological polished workpiece and polishing method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113001535B (en) | 2019-12-18 | 2022-11-15 | 财团法人工业技术研究院 | Automatic correction system and method for robot workpiece coordinate system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4682418A (en) * | 1986-07-07 | 1987-07-28 | The Warner & Swasey Company | Coordinate measuring machine |
| JPH03251378A (en) * | 1990-02-28 | 1991-11-08 | Fanuc Ltd | Calibration system for robot |
| DE29624330U1 (en) * | 1995-03-10 | 2002-03-07 | Dr. Johannes Heidenhain Gmbh, 83301 Traunreut | Multi-coordinate probe |
| EP1152212B1 (en) * | 2000-03-29 | 2004-01-14 | TMS Produktionssysteme GmbH | Semi automatic calibration of the actuating arm of a robot |
| JP4475501B2 (en) * | 2003-10-09 | 2010-06-09 | インターナショナル・ビジネス・マシーンズ・コーポレーション | Spectroscopic element, diffraction grating, composite diffraction grating, color display device, and duplexer |
| CN1295651C (en) * | 2004-05-13 | 2007-01-17 | 上海交通大学 | Composite calibration method of mold surface optical measurement system |
| CN1300548C (en) * | 2005-03-23 | 2007-02-14 | 天津大学 | Quick calibrating method for line structure optical sensor based on coplanar calibrated reference |
| CN1316228C (en) * | 2005-09-18 | 2007-05-16 | 中国海洋大学 | Calibrating method for visual non-contact measuring head |
-
2006
- 2006-06-30 CN CNB2006100908017A patent/CN100489449C/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102200429B (en) * | 2011-04-06 | 2012-07-04 | 西安交通大学 | Precision detection method for numerical control machine based on laser-tracking combined measurement |
| CN102200429A (en) * | 2011-04-06 | 2011-09-28 | 西安交通大学 | Precision detection method for numerical control machine based on laser-tracking combined measurement |
| CN103808285A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Calibration method of pre-alignment machine and mechanical arm relative coordinate system |
| CN103808285B (en) * | 2012-11-08 | 2016-08-03 | 沈阳新松机器人自动化股份有限公司 | Prealignment machine and the scaling method of mechanical hand relative coordinate system |
| CN103759635A (en) * | 2013-12-25 | 2014-04-30 | 合肥工业大学 | Scanning measurement robot detection method allowing precision to be irrelevant to robot |
| CN103759635B (en) * | 2013-12-25 | 2016-10-26 | 合肥工业大学 | The scanning survey robot detection method that a kind of precision is unrelated with robot |
| CN104215206B (en) * | 2014-09-28 | 2017-01-11 | 东南大学 | Base coordinate calibration method of two-robot collaboration system |
| CN105157567B (en) * | 2015-05-15 | 2017-10-10 | 天津智通机器人有限公司 | The tool coordinates system scaling method and system of a kind of robot measurement |
| CN105157567A (en) * | 2015-05-15 | 2015-12-16 | 天津智通机器人有限公司 | Tool coordinate system calibration method and system for measurement robot |
| WO2018085984A1 (en) * | 2016-11-08 | 2018-05-17 | Abb Schweiz Ag | Method for work piece calibration and robot system using the same |
| US11312019B2 (en) | 2016-11-08 | 2022-04-26 | Abb Schweiz Ag | Method for work piece calibration and robot system using the same |
| CN107121108A (en) * | 2017-06-06 | 2017-09-01 | 湖北工业大学 | It is a kind of fast to sentence robot tool coordinate system scaling method by mistake certainly |
| CN107121108B (en) * | 2017-06-06 | 2019-05-10 | 湖北工业大学 | It is a kind of fast to sentence accidentally robot tool coordinate system scaling method certainly |
| CN110006341A (en) * | 2019-04-04 | 2019-07-12 | 北京卫星制造厂有限公司 | A kind of bracket processing technology out of my cabin based on multimetering feedback |
| CN110006341B (en) * | 2019-04-04 | 2021-06-11 | 北京卫星制造厂有限公司 | Processing method of extravehicular support based on multi-point measurement feedback |
| CN110434679A (en) * | 2019-07-25 | 2019-11-12 | 王东 | A kind of Intelligent Machining method for the workpiece with random size error |
| CN112008696A (en) * | 2020-09-07 | 2020-12-01 | 菲尼克斯(南京)智能制造技术工程有限公司 | Industrial robot system based on vision |
| CN113313444A (en) * | 2021-04-19 | 2021-08-27 | 安吉智能物联技术有限公司 | Forklift real-time positioning system and method for logistics warehouse |
| CN113280767A (en) * | 2021-04-29 | 2021-08-20 | 东华大学 | Workpiece rapid automatic positioning method based on non-concentric circles |
| CN113246145A (en) * | 2021-07-02 | 2021-08-13 | 杭州景业智能科技股份有限公司 | Pose compensation method and system for nuclear industry grabbing equipment and electronic device |
| CN113814870A (en) * | 2021-09-29 | 2021-12-21 | 中国工程物理研究院机械制造工艺研究所 | Method for measuring and calculating pose of magnetorheological polished workpiece and polishing method |
| CN113814870B (en) * | 2021-09-29 | 2022-10-04 | 中国工程物理研究院机械制造工艺研究所 | Method for measuring and calculating pose of magnetorheological polished workpiece and polishing method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100489449C (en) | 2009-05-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100489449C (en) | Workpieces coordinate system calibration method based on relative measurement | |
| CN106141814B (en) | The detection of Digit Control Machine Tool translation shaft geometric error and discrimination method based on LaserTRACER | |
| JP4660779B2 (en) | Method for evaluating position error of moving device and method for improving moving accuracy based on the evaluation result | |
| Ibaraki et al. | Machining tests to identify kinematic errors on five-axis machine tools | |
| Ibaraki et al. | Calibration of location errors of rotary axes on five-axis machine tools by on-the-machine measurement using a touch-trigger probe | |
| Lee et al. | Parametric modeling and estimation of geometric errors for a rotary axis using double ball-bar | |
| CN100489448C (en) | Method for calibrating workpieces coordinate system | |
| Xia et al. | Identification of geometric errors of rotary axis on multi-axis machine tool based on kinematic analysis method using double ball bar | |
| US20160236418A1 (en) | Error pattern compensation | |
| CN106363465B (en) | Multi-axis NC Machine Tools translation shaft and rotary shaft mutual alignment relation discrimination method | |
| CN106774152B (en) | A kind of modeling method of numerically-controlled machine tool position correlation geometric error item | |
| CN103616851B (en) | Geometric error screw theory modeling method for numerically-controlled machine tool | |
| CN107053154B (en) | Method for robot precision calibration | |
| CN107726982A (en) | A kind of laser range sensor error in mounting position scaling method | |
| Breitzke et al. | Workshop-suited geometric errors identification of three-axis machine tools using on-machine measurement for long term precision assurance | |
| CN104634245B (en) | A kind of three-dimensional big stroke precision workbench measuring system self-calibrating method | |
| Wang et al. | Error mapping of rotary tables in 4-axis measuring devices using a ball plate artifact | |
| Lowth et al. | An assessment of “variation conscious” precision fixturing methodologies for the control of circularity within large multi-segment annular assemblies | |
| Lai et al. | High accurate squareness measurement squareness method for ultra-precision machine based on error separation | |
| JP2011238097A (en) | Calibration method of positioning device, positioning device and computer program therefor | |
| KR20190102442A (en) | Method for measuring geometric errors of 4-axis machine tools | |
| Elshennawy et al. | Performance improvement in coordinate measuring machines by error compensation | |
| Jie et al. | Assessment and implementation of Global offset compensation method | |
| Paziani et al. | Robot measuring form errors | |
| Rugbani et al. | The kinematics and error modelling of a novel micro-CMM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180828 Address after: 300000 Tianjin Dongli District Tianjin free trade pilot area (Airport Economic Zone) Aviation Road 278 office building, block C. Patentee after: TIANJIN ZHITONG INFORMATION SYSTEM INTEGRATION Co.,Ltd. Address before: 065001 30 hongro Road, Langfang economic and Technological Development Zone, Hebei Patentee before: INTERSMART ROBOTIC SYSTEMS Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090520 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |