DE102011016113B8 - Verfahren und Vorrichtung zum Kalibrieren mehrachsiger Kraftaufnehmer in einem geschickten Roboter - Google Patents
Verfahren und Vorrichtung zum Kalibrieren mehrachsiger Kraftaufnehmer in einem geschickten Roboter Download PDFInfo
- Publication number
- DE102011016113B8 DE102011016113B8 DE102011016113.9A DE102011016113A DE102011016113B8 DE 102011016113 B8 DE102011016113 B8 DE 102011016113B8 DE 102011016113 A DE102011016113 A DE 102011016113A DE 102011016113 B8 DE102011016113 B8 DE 102011016113B8
- Authority
- DE
- Germany
- Prior art keywords
- skilful
- robot
- axis force
- force transducers
- calibrating multi
- 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
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
-
- 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
-
- 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
- G05B2219/40618—Measure gripping force offline, calibrate gripper for gripping force
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/760,954 | 2010-04-15 | ||
US12/760,954 US8265792B2 (en) | 2010-04-15 | 2010-04-15 | Method and apparatus for calibrating multi-axis load cells in a dexterous robot |
US12/760,954 | 2010-04-15 |
Publications (3)
Publication Number | Publication Date |
---|---|
DE102011016113A1 DE102011016113A1 (de) | 2011-12-15 |
DE102011016113B4 DE102011016113B4 (de) | 2021-03-18 |
DE102011016113B8 true DE102011016113B8 (de) | 2021-05-27 |
Family
ID=44788808
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102011016113.9A Active DE102011016113B8 (de) | 2010-04-15 | 2011-04-05 | Verfahren und Vorrichtung zum Kalibrieren mehrachsiger Kraftaufnehmer in einem geschickten Roboter |
Country Status (3)
Country | Link |
---|---|
US (1) | US8265792B2 (de) |
JP (2) | JP2011224771A (de) |
DE (1) | DE102011016113B8 (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160243709A1 (en) * | 2010-12-13 | 2016-08-25 | Brian L. Ganz | Robotic gripper |
US8943902B2 (en) * | 2012-10-05 | 2015-02-03 | Harris Corporation | Force and torque sensors |
US9346165B1 (en) * | 2014-06-02 | 2016-05-24 | Google Inc. | Robotic devices with multi-degree of freedom (DOF) load cell for shear beam sensing |
US9844872B1 (en) | 2015-07-13 | 2017-12-19 | X Development Llc | Determining sensor parameters and model parameters of a robot |
DE102017108325A1 (de) * | 2017-04-19 | 2018-10-25 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Linear-, Greif-, Spann-, Dreh- oder Schwenkvorrichtung, Verfahren zum Betreiben einer derartigen Vorrichtung, und Einrichtung zur Auswertung einer derartigen Vorrichtung |
DE102017009278A1 (de) * | 2017-10-05 | 2019-04-11 | Kuka Deutschland Gmbh | Kalibrierung eines Gelenklastsensors eines Roboters |
CN111351615B (zh) * | 2020-03-25 | 2021-07-20 | 东南大学 | 空间站机械臂六维力传感器高精度小型化在轨标定装置及标定方法 |
Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4982611A (en) * | 1988-05-24 | 1991-01-08 | Wisconsin Alumni Research Foundation | Multiple-degree-of-freedom sensor tip for a robotic gripper |
US5143505A (en) * | 1991-02-26 | 1992-09-01 | Rutgers University | Actuator system for providing force feedback to a dextrous master glove |
US5280981A (en) * | 1991-02-01 | 1994-01-25 | Odetics, Inc. | End effector with load-sensitive digit actuation mechanisms |
US6042555A (en) * | 1997-05-12 | 2000-03-28 | Virtual Technologies, Inc. | Force-feedback interface device for the hand |
DE10032363A1 (de) * | 1999-07-07 | 2001-01-11 | Agency Ind Science Techn | An einer Fingerspitze angebrachter Sechs-Achsen-Kraftsensor |
DE69926423T2 (de) * | 1998-02-23 | 2006-05-04 | Fanuc Ltd. | Verfahren und Vorrichtung zum Neukalibrieren eines auf einem Roboter befestigten Kraftsensors |
US20060145494A1 (en) * | 2004-10-08 | 2006-07-06 | Fanuc Ltd | Gripping type hand |
US7138976B1 (en) * | 2000-07-13 | 2006-11-21 | Rutgers, The State University Of New Jersey | Hand force feedback and sensing system |
US20070050045A1 (en) * | 2005-09-01 | 2007-03-01 | Clausen Arinbjorn V | Sensing system and method for motion-controlled foot unit |
US20070236162A1 (en) * | 2004-03-31 | 2007-10-11 | Ichiro Kawabuchi | Robot Hand |
US20070299427A1 (en) * | 2006-06-14 | 2007-12-27 | Yeung Benny H B | Surgical manipulator |
US20100077867A1 (en) * | 2008-09-30 | 2010-04-01 | Gm Global Technology Operations, Inc. | Phalange tactile load cell |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4132318A (en) * | 1976-12-30 | 1979-01-02 | International Business Machines Corporation | Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system |
JPH0690104B2 (ja) * | 1986-04-09 | 1994-11-14 | 株式会社日立製作所 | 力センサの変換行列をキヤリブレ−シヨンする方法及び装置 |
JPH04365583A (ja) * | 1991-06-10 | 1992-12-17 | Fujitsu Ltd | ロボットハンド及びその制御方法 |
JPH05111897A (ja) * | 1991-10-21 | 1993-05-07 | Fanuc Ltd | 複数台のロボツトの相対位置関係取得方式 |
US5761940A (en) * | 1994-11-09 | 1998-06-09 | Amada Company, Ltd. | Methods and apparatuses for backgaging and sensor-based control of bending operations |
JPH0911168A (ja) * | 1995-06-30 | 1997-01-14 | Toshiba Corp | マニピュレータ装置 |
US6070109A (en) * | 1998-03-10 | 2000-05-30 | Fanuc Robotics North America, Inc. | Robot calibration system |
JP2003053690A (ja) * | 2001-08-13 | 2003-02-26 | Ricoh Co Ltd | ハンドフィンガー |
JP3963162B2 (ja) * | 2003-08-28 | 2007-08-22 | ソニー株式会社 | ロボット装置及びロボット装置の制御方法ロボット装置 |
JP4914703B2 (ja) * | 2005-12-12 | 2012-04-11 | 本田技研工業株式会社 | 脚式移動ロボットの制御装置 |
JP4643429B2 (ja) * | 2005-12-13 | 2011-03-02 | 本田技研工業株式会社 | ハンド装置 |
JP4531126B2 (ja) * | 2008-02-28 | 2010-08-25 | パナソニック株式会社 | ロボットアームの制御装置及び制御方法、ロボット、ロボットアームの制御プログラム、及びロボットアーム制御用集積電子回路 |
JP2010064155A (ja) * | 2008-09-08 | 2010-03-25 | Toyota Motor Corp | 把持装置 |
JP4768086B2 (ja) * | 2009-07-02 | 2011-09-07 | パナソニック株式会社 | ロボット、ロボットアームの制御装置、及びロボットアームの制御プログラム |
-
2010
- 2010-04-15 US US12/760,954 patent/US8265792B2/en active Active
-
2011
- 2011-02-23 JP JP2011037173A patent/JP2011224771A/ja active Pending
- 2011-04-05 DE DE102011016113.9A patent/DE102011016113B8/de active Active
-
2013
- 2013-09-11 JP JP2013188167A patent/JP5819898B2/ja not_active Expired - Fee Related
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4982611A (en) * | 1988-05-24 | 1991-01-08 | Wisconsin Alumni Research Foundation | Multiple-degree-of-freedom sensor tip for a robotic gripper |
US5280981A (en) * | 1991-02-01 | 1994-01-25 | Odetics, Inc. | End effector with load-sensitive digit actuation mechanisms |
US5143505A (en) * | 1991-02-26 | 1992-09-01 | Rutgers University | Actuator system for providing force feedback to a dextrous master glove |
US6042555A (en) * | 1997-05-12 | 2000-03-28 | Virtual Technologies, Inc. | Force-feedback interface device for the hand |
DE69926423T2 (de) * | 1998-02-23 | 2006-05-04 | Fanuc Ltd. | Verfahren und Vorrichtung zum Neukalibrieren eines auf einem Roboter befestigten Kraftsensors |
DE10032363A1 (de) * | 1999-07-07 | 2001-01-11 | Agency Ind Science Techn | An einer Fingerspitze angebrachter Sechs-Achsen-Kraftsensor |
US7138976B1 (en) * | 2000-07-13 | 2006-11-21 | Rutgers, The State University Of New Jersey | Hand force feedback and sensing system |
US20070236162A1 (en) * | 2004-03-31 | 2007-10-11 | Ichiro Kawabuchi | Robot Hand |
US20060145494A1 (en) * | 2004-10-08 | 2006-07-06 | Fanuc Ltd | Gripping type hand |
US20070050045A1 (en) * | 2005-09-01 | 2007-03-01 | Clausen Arinbjorn V | Sensing system and method for motion-controlled foot unit |
US20070299427A1 (en) * | 2006-06-14 | 2007-12-27 | Yeung Benny H B | Surgical manipulator |
US20100077867A1 (en) * | 2008-09-30 | 2010-04-01 | Gm Global Technology Operations, Inc. | Phalange tactile load cell |
Also Published As
Publication number | Publication date |
---|---|
JP2011224771A (ja) | 2011-11-10 |
JP2014012337A (ja) | 2014-01-23 |
US20110257784A1 (en) | 2011-10-20 |
US8265792B2 (en) | 2012-09-11 |
DE102011016113B4 (de) | 2021-03-18 |
JP5819898B2 (ja) | 2015-11-24 |
DE102011016113A1 (de) | 2011-12-15 |
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Legal Events
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R012 | Request for examination validly filed |
Effective date: 20110405 |
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R016 | Response to examination communication | ||
R018 | Grant decision by examination section/examining division | ||
R020 | Patent grant now final |