CN112677146A - 验证和更新机器人控制用校准信息的方法和控制系统 - Google Patents

验证和更新机器人控制用校准信息的方法和控制系统 Download PDF

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Publication number
CN112677146A
CN112677146A CN202010646706.0A CN202010646706A CN112677146A CN 112677146 A CN112677146 A CN 112677146A CN 202010646706 A CN202010646706 A CN 202010646706A CN 112677146 A CN112677146 A CN 112677146A
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CN
China
Prior art keywords
verification
camera
robot
image
reference image
Prior art date
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Pending
Application number
CN202010646706.0A
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English (en)
Chinese (zh)
Inventor
罗素·伊斯兰
叶旭涛
鲁仙·出杏光
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mu Jinkeji
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Mu Jinkeji
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Publication date
Priority claimed from US16/864,071 external-priority patent/US10906184B2/en
Application filed by Mu Jinkeji filed Critical Mu Jinkeji
Priority to CN202010831931.1A priority Critical patent/CN111890371B/zh
Publication of CN112677146A publication Critical patent/CN112677146A/zh
Pending legal-status Critical Current

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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector
    • 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
    • G05B2219/39016—Simultaneous calibration of manipulator and camera
    • 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
    • G05B2219/39024—Calibration of manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN202010646706.0A 2019-03-29 2020-07-07 验证和更新机器人控制用校准信息的方法和控制系统 Pending CN112677146A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010831931.1A CN111890371B (zh) 2019-03-29 2020-07-07 验证和更新机器人控制用校准信息的方法和控制系统

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201962916798P 2019-10-18 2019-10-18
US62/916,798 2019-10-18
US16/864,071 US10906184B2 (en) 2019-03-29 2020-04-30 Method and control system for verifying and updating camera calibration for robot control
US16/864,071 2020-04-30

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202010831931.1A Division CN111890371B (zh) 2019-03-29 2020-07-07 验证和更新机器人控制用校准信息的方法和控制系统

Publications (1)

Publication Number Publication Date
CN112677146A true CN112677146A (zh) 2021-04-20

Family

ID=73836090

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010646706.0A Pending CN112677146A (zh) 2019-03-29 2020-07-07 验证和更新机器人控制用校准信息的方法和控制系统

Country Status (3)

Country Link
JP (2) JP6803633B1 (https=)
CN (1) CN112677146A (https=)
DE (2) DE102020119453B4 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022224358A1 (ja) * 2021-04-20 2022-10-27 ファナック株式会社 ロボット
JP7680553B2 (ja) * 2021-09-27 2025-05-20 ファナック株式会社 機構誤差パラメータを較正する較正装置および機構誤差パラメータの較正の必要性を判定する判定装置
JP7326401B2 (ja) * 2021-10-28 2023-08-15 株式会社安川電機 異常推定システム、異常推定方法、及びプログラム
CN114378825B (zh) * 2022-01-21 2023-05-12 四川长虹智能制造技术有限公司 一种多相机视觉定位方法、系统及电子设备
WO2025149348A1 (de) * 2024-01-09 2025-07-17 Kuka Deutschland Gmbh Verfahren und system zum durchführen einer roboterapplikation

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JPH07120211B2 (ja) * 1986-12-26 1995-12-20 トヨタ自動車株式会社 知能ロボツトにおける座標合わせ方法
JPH02183102A (ja) * 1989-01-10 1990-07-17 Fanuc Ltd 視覚センサにおけるキャリブレーション自動調整方式
JP2806604B2 (ja) * 1990-06-29 1998-09-30 ファナック株式会社 カメラの位置ずれ検出方法
JPH0511822A (ja) * 1991-07-03 1993-01-22 Fanuc Ltd ロボツトの協調作業方式
JPH05301195A (ja) * 1992-04-23 1993-11-16 Fanuc Ltd 視覚センサにおけるカメラ位置ずれ検出方法
JP2003117861A (ja) 2001-10-15 2003-04-23 Denso Corp ロボットの位置補正システム
JP5370128B2 (ja) * 2009-12-18 2013-12-18 株式会社デンソーウェーブ ロボットの故障検出装置
JP5928114B2 (ja) * 2012-04-12 2016-06-01 セイコーエプソン株式会社 ロボットシステム、ロボットシステムのキャリブレーション方法、ロボット
JP5949242B2 (ja) * 2012-07-11 2016-07-06 セイコーエプソン株式会社 ロボットシステム、ロボット、ロボット制御装置、ロボット制御方法、およびロボット制御プログラム
DE102014209371B4 (de) 2013-05-17 2018-11-15 pmdtechnologies ag System zur Steuerung einer Arbeitsmaschine mit einem Ausleger
US9586317B2 (en) * 2014-03-31 2017-03-07 Canon Kabushiki Kaisha Controlling method of robot system, program, recording medium, and robot system
DE102014215321A1 (de) 2014-08-04 2016-02-04 Bayerische Motoren Werke Aktiengesellschaft Robotersystem und Verfahren zum Kalibrieren von Achsen eines Roboters
JP2016078195A (ja) * 2014-10-21 2016-05-16 セイコーエプソン株式会社 ロボットシステム、ロボット、制御装置及びロボットの制御方法
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DE102015221337A1 (de) * 2015-10-30 2017-05-04 Keba Ag Verfahren und Steuerungssystem zum Steuern der Bewegungen von Gelenkarmen eines Industrieroboters sowie dabei eingesetztes Bewegungsvorgabemittel
JP2018001333A (ja) * 2016-06-30 2018-01-11 セイコーエプソン株式会社 校正ボード、ロボット、及び検出方法
DE102016225613A1 (de) 2016-12-20 2018-06-21 Kuka Roboter Gmbh Verfahren zum Kalibrieren eines Manipulators eines diagnostischen und/oder therapeutischen Manipulatorsystems
JP2018103352A (ja) * 2016-12-22 2018-07-05 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
JP6707485B2 (ja) * 2017-03-22 2020-06-10 株式会社東芝 物体ハンドリング装置およびその較正方法
DE102017209178B4 (de) 2017-05-31 2021-09-02 Carl Zeiss Industrielle Messtechnik Gmbh Verfahren zur Ermittlung der Raumlage eines bewegten Koordinatensystems, eines Messpunkts seines Sensors oder eines Arbeitspunktes eines Werkzeugs bei einem Roboter
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JP2019025572A (ja) * 2017-07-28 2019-02-21 セイコーエプソン株式会社 ロボットの制御装置、ロボット、ロボットシステム、並びに、ロボットの異常を確認する方法
US10369698B1 (en) 2019-03-07 2019-08-06 Mujin, Inc. Method and system for performing automatic camera calibration for robot control
US10399227B1 (en) 2019-03-29 2019-09-03 Mujin, Inc. Method and control system for verifying and updating camera calibration for robot control

Also Published As

Publication number Publication date
JP2021066011A (ja) 2021-04-30
DE102020127343A1 (de) 2021-04-22
JP2021066008A (ja) 2021-04-30
DE102020119453A1 (de) 2021-04-22
DE102020119453B4 (de) 2022-06-09
JP6803633B1 (ja) 2020-12-23
JP7632837B2 (ja) 2025-02-19

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