CN118043174A - 校正机构误差参数的校正装置以及判定校正机构误差参数的必要性的判定装置 - Google Patents

校正机构误差参数的校正装置以及判定校正机构误差参数的必要性的判定装置 Download PDF

Info

Publication number
CN118043174A
CN118043174A CN202180102497.6A CN202180102497A CN118043174A CN 118043174 A CN118043174 A CN 118043174A CN 202180102497 A CN202180102497 A CN 202180102497A CN 118043174 A CN118043174 A CN 118043174A
Authority
CN
China
Prior art keywords
robot
coordinate system
state
reference coordinate
error parameter
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.)
Pending
Application number
CN202180102497.6A
Other languages
English (en)
Chinese (zh)
Inventor
王悦来
内藤康广
原田邦彦
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 CN118043174A publication Critical patent/CN118043174A/zh
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202180102497.6A 2021-09-27 2021-09-27 校正机构误差参数的校正装置以及判定校正机构误差参数的必要性的判定装置 Pending CN118043174A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/035409 WO2023047591A1 (ja) 2021-09-27 2021-09-27 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

Publications (1)

Publication Number Publication Date
CN118043174A true CN118043174A (zh) 2024-05-14

Family

ID=85720309

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180102497.6A Pending CN118043174A (zh) 2021-09-27 2021-09-27 校正机构误差参数的校正装置以及判定校正机构误差参数的必要性的判定装置

Country Status (6)

Country Link
US (1) US20240375284A1 (https=)
JP (1) JP7680553B2 (https=)
CN (1) CN118043174A (https=)
DE (1) DE112021007764T5 (https=)
TW (1) TW202314413A (https=)
WO (1) WO2023047591A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119610110A (zh) * 2024-12-18 2025-03-14 节卡机器人股份有限公司 机器人运动指令的校正方法、装置和非易失性存储介质

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2025027787A1 (https=) * 2023-08-01 2025-02-06

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1083208A (ja) 1996-09-05 1998-03-31 Matsushita Electric Ind Co Ltd ロボット間相対位置演算機構
JP2001038662A (ja) 1999-08-04 2001-02-13 Honda Motor Co Ltd 作業ロボットの校正方法
KR100485348B1 (ko) * 2002-07-09 2005-04-27 삼성전자주식회사 로봇의 캘리브레이션 방법
EP2722136A1 (en) 2012-10-19 2014-04-23 inos Automationssoftware GmbH Method for in-line calibration of an industrial robot, calibration system for performing such a method and industrial robot comprising such a calibration system
JP6108860B2 (ja) * 2013-02-14 2017-04-05 キヤノン株式会社 ロボットシステム及びロボットシステムの制御方法
JP6415190B2 (ja) * 2014-09-03 2018-10-31 キヤノン株式会社 ロボット装置、ロボット制御プログラム、記録媒体、およびロボット装置の制御方法
JP2019014011A (ja) 2017-07-06 2019-01-31 株式会社不二越 ロボットの教示位置補正方法
JP6603289B2 (ja) 2017-10-27 2019-11-06 ファナック株式会社 ロボット、ロボットシステム、およびロボットの座標系設定方法
US11338441B2 (en) * 2017-12-01 2022-05-24 Delta Electronics, Inc. Calibration system for robot tool and calibration method for the same
CN112677146A (zh) 2019-10-18 2021-04-20 牧今科技 验证和更新机器人控制用校准信息的方法和控制系统
US10906184B2 (en) * 2019-03-29 2021-02-02 Mujin, Inc. Method and control system for verifying and updating camera calibration for robot control
JP7048535B2 (ja) 2019-04-01 2022-04-05 ファナック株式会社 ロボットを制御するための機構誤差パラメータを較正するロボットの制御装置
CN112643658A (zh) 2019-10-10 2021-04-13 南京邮电大学 基于sir降维dh模型的串联机器人自适应误差建模的标定方法
US11766782B2 (en) * 2020-03-17 2023-09-26 Applied Materials, Inc. Calibration of an electronics processing system
US12030184B2 (en) * 2021-06-09 2024-07-09 eBots Inc. System and method for error correction and compensation for 3D eye-to-hand coordination
CN117813182A (zh) 2021-08-03 2024-04-02 京瓷株式会社 机器人控制设备、机器人控制系统和机器人控制方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119610110A (zh) * 2024-12-18 2025-03-14 节卡机器人股份有限公司 机器人运动指令的校正方法、装置和非易失性存储介质

Also Published As

Publication number Publication date
JPWO2023047591A1 (https=) 2023-03-30
DE112021007764T5 (de) 2024-08-22
WO2023047591A1 (ja) 2023-03-30
JP7680553B2 (ja) 2025-05-20
US20240375284A1 (en) 2024-11-14
TW202314413A (zh) 2023-04-01

Similar Documents

Publication Publication Date Title
US12583121B2 (en) Calibration apparatus for calibrating mechanism error parameter for controlling robot
US11679501B2 (en) Controller for determining modification method of position or orientation of robot
CN109648603B (zh) 测量系统
US8918210B2 (en) Method of detecting an inter-axis offset of 6-axis robot
CN109551518B (zh) 计测系统
CN111319034B (zh) 校准装置以及校准方法
JP2014508050A (ja) ロボット作業対象セル較正のためのデバイス、システムおよび方法
WO1996030171A1 (en) Method and device for calibration of movement axes of an industrial robot
US11289303B2 (en) Calibrating method and calibrating system
US20250180350A1 (en) Coordinate positioning machine
CN118043174A (zh) 校正机构误差参数的校正装置以及判定校正机构误差参数的必要性的判定装置
CN109719714B (zh) 机器人、机器人系统以及机器人的坐标系设定方法
CN111452047A (zh) 机器人工具偏差的修正方法、机器人控制装置及系统
JP7597906B2 (ja) ロボットの設置位置測定方法、ロボット制御装置、教示システムおよびシミュレーション装置
CN113799114A (zh) 机器手臂的原点校正方法
JP2007122705A (ja) 溶接教示位置補正システム及びキャリブレーション方法
JP3824597B2 (ja) 光学的三次元形状測定装置および測定方法
JP7295302B2 (ja) ロボットを制御するための機構誤差パラメータを較正するロボットの制御装置および教示操作盤
JP2020044619A (ja) ロボットシステム及びロボット制御方法

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