CN107121108A - 一种快捷自判误机器人工具坐标系标定方法 - Google Patents
一种快捷自判误机器人工具坐标系标定方法 Download PDFInfo
- Publication number
- CN107121108A CN107121108A CN201710418797.0A CN201710418797A CN107121108A CN 107121108 A CN107121108 A CN 107121108A CN 201710418797 A CN201710418797 A CN 201710418797A CN 107121108 A CN107121108 A CN 107121108A
- Authority
- CN
- China
- Prior art keywords
- mrow
- mtd
- mtr
- mmultiscripts
- msub
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710418797.0A CN107121108B (zh) | 2017-06-06 | 2017-06-06 | 一种快捷自判误机器人工具坐标系标定方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710418797.0A CN107121108B (zh) | 2017-06-06 | 2017-06-06 | 一种快捷自判误机器人工具坐标系标定方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107121108A true CN107121108A (zh) | 2017-09-01 |
CN107121108B CN107121108B (zh) | 2019-05-10 |
Family
ID=59729756
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710418797.0A Active CN107121108B (zh) | 2017-06-06 | 2017-06-06 | 一种快捷自判误机器人工具坐标系标定方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107121108B (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109465831A (zh) * | 2018-12-17 | 2019-03-15 | 南京埃斯顿机器人工程有限公司 | 一种提升工业机器人工具坐标系标定精度的方法 |
WO2019114630A1 (zh) * | 2017-12-13 | 2019-06-20 | 北京柏惠维康科技有限公司 | 一种获取机器人tcp坐标的方法和装置 |
CN113311454A (zh) * | 2020-02-26 | 2021-08-27 | 中移物联网有限公司 | 一种gps定位点离散程度的评定方法、装置及设备 |
CN113686278A (zh) * | 2021-08-24 | 2021-11-23 | 南京衍构科技有限公司 | 一种高精度工业机器人工具tcp标定方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0538688A (ja) * | 1991-07-30 | 1993-02-19 | Nok Corp | 産業用ロボツトシステムの座標系較正方法 |
CN101097132A (zh) * | 2006-06-30 | 2008-01-02 | 廊坊智通机器人系统有限公司 | 基于相对测量的工件坐标系统标定方法 |
CN102226677A (zh) * | 2011-01-26 | 2011-10-26 | 东南大学 | 具有协作关系的多机器人系统的基坐标系标定方法 |
CN103017726A (zh) * | 2012-12-19 | 2013-04-03 | 华南理工大学 | 一种直角坐标方式的机器人位姿误差测量系统及方法 |
CN104132616A (zh) * | 2014-08-19 | 2014-11-05 | 苏州北硕检测技术有限公司 | 激光测量机器人的手眼标定方法及系统 |
CN104457645A (zh) * | 2014-11-27 | 2015-03-25 | 中南大学 | 一种利用二维测量功能平板的机器人工具中心点标定方法 |
-
2017
- 2017-06-06 CN CN201710418797.0A patent/CN107121108B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0538688A (ja) * | 1991-07-30 | 1993-02-19 | Nok Corp | 産業用ロボツトシステムの座標系較正方法 |
CN101097132A (zh) * | 2006-06-30 | 2008-01-02 | 廊坊智通机器人系统有限公司 | 基于相对测量的工件坐标系统标定方法 |
CN102226677A (zh) * | 2011-01-26 | 2011-10-26 | 东南大学 | 具有协作关系的多机器人系统的基坐标系标定方法 |
CN103017726A (zh) * | 2012-12-19 | 2013-04-03 | 华南理工大学 | 一种直角坐标方式的机器人位姿误差测量系统及方法 |
CN104132616A (zh) * | 2014-08-19 | 2014-11-05 | 苏州北硕检测技术有限公司 | 激光测量机器人的手眼标定方法及系统 |
CN104457645A (zh) * | 2014-11-27 | 2015-03-25 | 中南大学 | 一种利用二维测量功能平板的机器人工具中心点标定方法 |
Non-Patent Citations (1)
Title |
---|
何佳唯等: "一种机器人手眼关系混合标定方法", 《应用光学》 * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019114630A1 (zh) * | 2017-12-13 | 2019-06-20 | 北京柏惠维康科技有限公司 | 一种获取机器人tcp坐标的方法和装置 |
CN109465831A (zh) * | 2018-12-17 | 2019-03-15 | 南京埃斯顿机器人工程有限公司 | 一种提升工业机器人工具坐标系标定精度的方法 |
WO2020124935A1 (zh) * | 2018-12-17 | 2020-06-25 | 南京埃斯顿机器人工程有限公司 | 一种提升工业机器人工具坐标系标定精度的方法 |
CN109465831B (zh) * | 2018-12-17 | 2021-06-01 | 南京埃斯顿机器人工程有限公司 | 一种提升工业机器人工具坐标系标定精度的方法 |
CN113311454A (zh) * | 2020-02-26 | 2021-08-27 | 中移物联网有限公司 | 一种gps定位点离散程度的评定方法、装置及设备 |
CN113686278A (zh) * | 2021-08-24 | 2021-11-23 | 南京衍构科技有限公司 | 一种高精度工业机器人工具tcp标定方法 |
Also Published As
Publication number | Publication date |
---|---|
CN107121108B (zh) | 2019-05-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107121108A (zh) | 一种快捷自判误机器人工具坐标系标定方法 | |
US11667035B2 (en) | Path-modifying control system managing robot singularities | |
CN103901898B (zh) | 一种多自由度机器人的逆运动学通用求解方法 | |
WO2018090323A1 (zh) | 一种坐标系标定方法、系统及装置 | |
CN105509671B (zh) | 一种利用平面标定板的机器人工具中心点标定方法 | |
CN107838920A (zh) | 一种机器人打磨力控制系统和方法 | |
EP2495628A1 (en) | Tool path generation method and device | |
CN108656116B (zh) | 基于降维mcpc模型的串联机器人运动学参数标定方法 | |
CN107152911A (zh) | 基于psd反馈的点激光传感器与机器人相对位置的标定方法 | |
CN104511900A (zh) | 机器人校准装置及校准方法、机器人装置及其控制方法 | |
WO2017068930A1 (en) | Teaching point correcting method, program, recording medium, robot apparatus, imaging point creating method, and imaging point creating apparatus | |
CN111890348B (zh) | 一种双机器人协同搬运的控制方法及装置 | |
CN110682289B (zh) | 基于工业机器人的曲面工件坐标系自动标定方法 | |
CN109465831B (zh) | 一种提升工业机器人工具坐标系标定精度的方法 | |
CN112318498A (zh) | 一种考虑参数耦合的工业机器人标定方法 | |
US11289303B2 (en) | Calibrating method and calibrating system | |
CN107378952A (zh) | 一种冗余度机械臂末端执行器姿态保持的解决方法 | |
EP0199821A4 (en) | METHOD FOR FORMING POSITION DATA ON DRIVE SHAFTS OF A ROBOT. | |
CN207724306U (zh) | 一种机器人打磨力控制系统 | |
CN110815204A (zh) | 一种工业机器人运动学标定方法 | |
CN111085902B (zh) | 一种视觉在线检测及修正的工件打磨系统 | |
JP2011224672A (ja) | ロボットのツールベクトルの導出方法及び較正方法 | |
CN109397259B (zh) | 用于确定机器人设备的绝对位置的方法和机器人设备 | |
CN113211436A (zh) | 基于遗传算法的六自由度串联机器人误差标定方法 | |
CN107066726A (zh) | 一种数控机床旋转轴垂直度误差建模方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Wang Shuqing Inventor after: If the sky Inventor after: Liu Zong Inventor after: Wang Yazhou Inventor after: Pan Jian Inventor after: Li Yewei Inventor after: Zou Yu Inventor after: Mao Yuexiang Inventor after: Nie Junhao Inventor after: Zhu Daoli Inventor before: Wang Shuqing Inventor before: If the sky Inventor before: Zou Yu Inventor before: Wang Yazhou Inventor before: Pan Jian Inventor before: Li Yewei Inventor before: Liu Zong Inventor before: Mao Yuexiang Inventor before: Nie Junhao Inventor before: Zhu Daoli |
|
CB03 | Change of inventor or designer information | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210917 Address after: 430205 Hubei 1 East Lake New Technology Development Zone, Wuhan East 1 Industrial Park, No. 1, 25 high tech four road. Patentee after: WUHAN FENJIN INTELLIGENT MACHINE Co.,Ltd. Address before: 430068 1, Lijia 1 village, Nanhu, Wuchang District, Wuhan, Hubei Patentee before: HUBEI University OF TECHNOLOGY |
|
TR01 | Transfer of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A Quick Method for Calibrating the Coordinate System of Robot Tools for Self Judging Errors Effective date of registration: 20230907 Granted publication date: 20190510 Pledgee: Industrial Bank Limited by Share Ltd. Wuhan branch Pledgor: WUHAN FENJIN INTELLIGENT MACHINE Co.,Ltd. Registration number: Y2023980055705 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right |