CN107462154B - 机器人末端工具的位姿测量方法 - Google Patents
机器人末端工具的位姿测量方法 Download PDFInfo
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- CN107462154B CN107462154B CN201710631298.XA CN201710631298A CN107462154B CN 107462154 B CN107462154 B CN 107462154B CN 201710631298 A CN201710631298 A CN 201710631298A CN 107462154 B CN107462154 B CN 107462154B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- 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
- B25J9/1697—Vision controlled systems
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- 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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
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- 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
- G05B2219/39026—Calibration of manipulator while tool is mounted
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims (6)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710631298.XA CN107462154B (zh) | 2017-07-28 | 2017-07-28 | 机器人末端工具的位姿测量方法 |
PCT/CN2017/106889 WO2019019432A1 (zh) | 2017-07-28 | 2017-10-19 | 机器人末端工具的位姿测量方法 |
US16/074,916 US11072078B2 (en) | 2017-07-28 | 2017-10-19 | Method for measuring pose of robotic end tool |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710631298.XA CN107462154B (zh) | 2017-07-28 | 2017-07-28 | 机器人末端工具的位姿测量方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107462154A CN107462154A (zh) | 2017-12-12 |
CN107462154B true CN107462154B (zh) | 2019-08-30 |
Family
ID=60547875
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201710631298.XA Active CN107462154B (zh) | 2017-07-28 | 2017-07-28 | 机器人末端工具的位姿测量方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11072078B2 (zh) |
CN (1) | CN107462154B (zh) |
WO (1) | WO2019019432A1 (zh) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108927801B (zh) * | 2018-03-21 | 2021-04-13 | 北京猎户星空科技有限公司 | 一种机械臂末端姿态调整方法及装置 |
CN108789470A (zh) * | 2018-06-15 | 2018-11-13 | 长沙琢冶信息技术有限公司 | 一种末端工具的配置方法 |
CN110411338B (zh) * | 2019-06-24 | 2020-12-18 | 武汉理工大学 | 机器人电弧增材修复的焊枪工具参数三维扫描标定方法 |
CN111299929B (zh) * | 2020-03-18 | 2021-11-30 | 福建省特种设备检验研究院 | 一种自动测量与校正焊接机器人焊枪姿态的方法 |
CN111795651B (zh) * | 2020-07-06 | 2021-12-28 | 安徽工程大学 | 一种运用机械手臂测量大型回转体参数的方法及设备 |
CN112936274B (zh) * | 2021-02-05 | 2022-05-17 | 武汉理工大学 | 一种机器人夹持的柔性打磨轮位姿辨识方法 |
CN115233991A (zh) * | 2021-04-23 | 2022-10-25 | 广东博智林机器人有限公司 | 建筑设备及建筑设备的作业方法 |
CN113370213A (zh) * | 2021-06-25 | 2021-09-10 | 成都飞机工业(集团)有限责任公司 | 一种机器人末端执行器的姿态计算方法 |
CN114012724B (zh) * | 2021-11-02 | 2024-04-05 | 上海发那科机器人有限公司 | 一种基于探针的工业机器人坐标系自动标定方法 |
CN114359394B (zh) * | 2022-03-17 | 2022-06-17 | 季华实验室 | 一种双目视觉的定位方法、装置、电子设备及存储介质 |
CN114888792B (zh) * | 2022-04-21 | 2023-09-05 | 北京航空航天大学 | 一种基于tcp法的截骨机器人系统中刀具坐标系标定方法 |
CN115310028B (zh) * | 2022-07-21 | 2023-11-10 | 成都飞机工业(集团)有限责任公司 | 一种盲孔轴线与平面夹角测量不确定度的计算方法 |
CN116423505B (zh) * | 2023-03-30 | 2024-04-23 | 杭州邦杰星医疗科技有限公司 | 一种机械臂导航手术中机械臂配准模块误差校准方法 |
CN117415826B (zh) * | 2023-12-19 | 2024-02-23 | 苏州一目万相科技有限公司 | 检测系统的控制方法、装置和可读存储介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0282302A (ja) * | 1988-09-19 | 1990-03-22 | Toyoda Mach Works Ltd | ロボット制御装置 |
CN102689118A (zh) * | 2012-02-03 | 2012-09-26 | 昆山工研院工业机器人研究所有限公司 | 实现焊接机器人工具中心点自动偏移的方法及系统 |
CN104227250A (zh) * | 2014-09-16 | 2014-12-24 | 佛山市利迅达机器人系统有限公司 | 基于平面的机器人三维寻位纠偏方法 |
Family Cites Families (12)
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EP1590712B1 (de) * | 2003-01-29 | 2011-03-02 | OPEN MIND Technologies AG | Verfahren zur steuerung von relativbewegungen eines werkzeuges gegen ein werkstück |
KR100758978B1 (ko) * | 2003-06-26 | 2007-09-14 | 현대중공업 주식회사 | 로봇 시스템의 주행축 캘리브레이션 방법 |
JP4700646B2 (ja) * | 2007-03-26 | 2011-06-15 | 株式会社神戸製鋼所 | ワーク位置決め装置の制御装置およびそのプログラム |
RU2466858C1 (ru) * | 2011-06-01 | 2012-11-20 | Российская Федерация в лице Министерства промышленности и торговли Российской Федерации | Способ контроля точности контурных перемещений промышленных роботов |
CN103101060B (zh) | 2011-11-11 | 2015-07-01 | 鸿富锦精密工业(深圳)有限公司 | 机器人工具中心点的传感校正方法 |
CN105014679A (zh) * | 2015-08-03 | 2015-11-04 | 华中科技大学无锡研究院 | 一种基于扫描仪的机器人手眼标定方法 |
JP6542629B2 (ja) * | 2015-09-18 | 2019-07-10 | 川崎重工業株式会社 | 加工ツールの位置決め装置及び位置決め方法 |
CN105345453B (zh) * | 2015-11-30 | 2017-09-22 | 北京卫星制造厂 | 一种基于工业机器人自动化装调的位姿确定方法 |
CN105509671B (zh) | 2015-12-01 | 2018-01-09 | 中南大学 | 一种利用平面标定板的机器人工具中心点标定方法 |
CN105716525B (zh) * | 2016-03-30 | 2018-03-30 | 西北工业大学 | 基于激光跟踪仪的机器人末端执行器坐标系标定方法 |
JP6400750B2 (ja) * | 2017-01-26 | 2018-10-03 | ファナック株式会社 | 学習制御機能を備えた制御システム及び制御方法 |
JP6964989B2 (ja) * | 2017-02-09 | 2021-11-10 | キヤノン株式会社 | 制御方法、ロボットシステム、物品の製造方法、プログラム、及び記録媒体 |
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2017
- 2017-07-28 CN CN201710631298.XA patent/CN107462154B/zh active Active
- 2017-10-19 US US16/074,916 patent/US11072078B2/en active Active
- 2017-10-19 WO PCT/CN2017/106889 patent/WO2019019432A1/zh active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0282302A (ja) * | 1988-09-19 | 1990-03-22 | Toyoda Mach Works Ltd | ロボット制御装置 |
CN102689118A (zh) * | 2012-02-03 | 2012-09-26 | 昆山工研院工业机器人研究所有限公司 | 实现焊接机器人工具中心点自动偏移的方法及系统 |
CN104227250A (zh) * | 2014-09-16 | 2014-12-24 | 佛山市利迅达机器人系统有限公司 | 基于平面的机器人三维寻位纠偏方法 |
Also Published As
Publication number | Publication date |
---|---|
WO2019019432A1 (zh) | 2019-01-31 |
US11072078B2 (en) | 2021-07-27 |
US20210197396A1 (en) | 2021-07-01 |
CN107462154A (zh) | 2017-12-12 |
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Effective date of registration: 20230224 Address after: No. 201, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong 518000 Patentee after: SHENZHEN WEIXIONG PRECISION MACHINERY Co.,Ltd. Patentee after: YUANMENG PRECISION TECHNOLOGY (SHENZHEN) INSTITUTE Address before: 518000 integrated circuit design and application Industrial Park, no.1089, chaguang Road, Nanshan District, Shenzhen City, Guangdong Province Patentee before: YUANMENG PRECISION TECHNOLOGY (SHENZHEN) INSTITUTE |
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