CN114981042B - 机器人的校准装置 - Google Patents

机器人的校准装置

Info

Publication number
CN114981042B
CN114981042B CN202180010498.8A CN202180010498A CN114981042B CN 114981042 B CN114981042 B CN 114981042B CN 202180010498 A CN202180010498 A CN 202180010498A CN 114981042 B CN114981042 B CN 114981042B
Authority
CN
China
Prior art keywords
calibration
axis
robot
correction
rotation
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.)
Active
Application number
CN202180010498.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN114981042A (zh
Inventor
莲尾健
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of CN114981042A publication Critical patent/CN114981042A/zh
Application granted granted Critical
Publication of CN114981042B publication Critical patent/CN114981042B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0019End effectors other than grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Program-controlled manipulators
    • B25J9/10Program-controlled manipulators characterised by positioning means for manipulator elements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Program-controlled manipulators
    • B25J9/16Program controls
    • B25J9/1679Program controls characterised by the tasks executed
    • B25J9/1692Calibration of manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN202180010498.8A 2020-01-27 2021-01-20 机器人的校准装置 Active CN114981042B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020-010764 2020-01-27
JP2020010764 2020-01-27
PCT/JP2021/001740 WO2021153359A1 (ja) 2020-01-27 2021-01-20 ロボットのキャリブレーション装置

Publications (2)

Publication Number Publication Date
CN114981042A CN114981042A (zh) 2022-08-30
CN114981042B true CN114981042B (zh) 2026-01-09

Family

ID=77079857

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180010498.8A Active CN114981042B (zh) 2020-01-27 2021-01-20 机器人的校准装置

Country Status (5)

Country Link
US (1) US12390932B2 (https=)
JP (1) JP7410189B2 (https=)
CN (1) CN114981042B (https=)
DE (1) DE112021000759T5 (https=)
WO (1) WO2021153359A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112021000759T5 (de) * 2020-01-27 2023-01-26 Fanuc Corporation Roboterkalibriervorrichtung
CN115648285B (zh) * 2022-09-19 2023-07-21 重庆智能机器人研究院 机器人本体零点外部校准方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6020878A (ja) * 1983-07-15 1985-02-02 ファナック株式会社 工業用ロボットの基準位置決め装置
JPH0791947A (ja) * 1993-09-22 1995-04-07 Nissan Motor Co Ltd 計測用ロボットの異常検出方法

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JPS61209825A (ja) * 1985-05-16 1986-09-18 Fujitsu Ltd 穴識別方法
JPS62140783A (ja) 1985-12-12 1987-06-24 フアナツク株式会社 産業用ロボツトのキヤリブレ−シヨン装置
JPS63278787A (ja) 1987-05-06 1988-11-16 株式会社不二越 ロボツト
JPH04300181A (ja) 1991-03-28 1992-10-23 Kobe Steel Ltd 工業用ロボットの基準姿勢決定方法
JPH068185A (ja) * 1992-06-29 1994-01-18 Fanuc Ltd 産業用ロボットの付加二軸装置のマスタリング装置
US6418774B1 (en) * 2001-04-17 2002-07-16 Abb Ab Device and a method for calibration of an industrial robot
EP1396313A1 (en) 2002-09-03 2004-03-10 Nissan Motor Co., Ltd. General purpose hand with suction holders for multiaxis manipulator
JP4093110B2 (ja) 2002-09-03 2008-06-04 日産自動車株式会社 汎用ハンド
JP5629528B2 (ja) 2010-08-18 2014-11-19 株式会社アイエイアイ 制御装置、産業用ロボット、座標系の再現方法、及びプログラム
TWI408037B (zh) * 2010-12-03 2013-09-11 Ind Tech Res Inst 機械手臂的定位方法及校正方法
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
CN103376080B (zh) * 2012-04-27 2016-09-07 上海西门子燃气轮机部件有限公司 一种用于校准机器人工作单元的方法
CN102922521B (zh) * 2012-08-07 2015-09-09 中国科学技术大学 一种基于立体视觉伺服的机械臂系统及其实时校准方法
US9114534B2 (en) * 2013-01-14 2015-08-25 Matthew E Trompeter Robot calibration systems
JP5678979B2 (ja) * 2013-03-15 2015-03-04 株式会社安川電機 ロボットシステム、校正方法及び被加工物の製造方法
JP6512456B2 (ja) * 2016-12-27 2019-05-15 トヨタ自動車株式会社 水平多関節型ロボット用の校正治具および校正方法
JP6527178B2 (ja) * 2017-01-12 2019-06-05 ファナック株式会社 視覚センサのキャリブレーション装置、方法及びプログラム
JP6844462B2 (ja) * 2017-07-21 2021-03-17 株式会社デンソーウェーブ 角度検出器の偏心誤差補正方法、ロボットシステム
TWI668541B (zh) * 2017-09-29 2019-08-11 財團法人工業技術研究院 機器人工具中心點校正系統及其方法
WO2019235023A1 (ja) * 2018-06-04 2019-12-12 株式会社キーレックス 多関節ロボット用の教示データ作成方法及び教示データ校正用座標系検出具
JP7000368B2 (ja) * 2019-02-08 2022-01-19 ファナック株式会社 ロボットキャリブレーション方法及びロボットキャリブレーション装置
KR102220173B1 (ko) * 2019-11-01 2021-02-25 주식회사 뉴로메카 로봇 비전 시스템을 위한 자동 캘리브레이션 방법 및 장치
CN113001535B (zh) * 2019-12-18 2022-11-15 财团法人工业技术研究院 机器人工件坐标系自动校正系统与方法
DE112021000759T5 (de) * 2020-01-27 2023-01-26 Fanuc Corporation Roboterkalibriervorrichtung
JP2024113790A (ja) * 2023-02-10 2024-08-23 セイコーエプソン株式会社 キャリブレーション方法、キャリブレーション装置およびロボットシステム
CN119141523A (zh) * 2023-06-16 2024-12-17 泰科电子(上海)有限公司 移动机器人标定装置、系统和方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6020878A (ja) * 1983-07-15 1985-02-02 ファナック株式会社 工業用ロボットの基準位置決め装置
JPH0791947A (ja) * 1993-09-22 1995-04-07 Nissan Motor Co Ltd 計測用ロボットの異常検出方法

Also Published As

Publication number Publication date
JP7410189B2 (ja) 2024-01-09
DE112021000759T5 (de) 2023-01-26
US12390932B2 (en) 2025-08-19
JPWO2021153359A1 (https=) 2021-08-05
CN114981042A (zh) 2022-08-30
US20230038142A1 (en) 2023-02-09
WO2021153359A1 (ja) 2021-08-05

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