DE102014018912A1 - Device and method for determining the position of an end effector of a robot - Google Patents
Device and method for determining the position of an end effector of a robot Download PDFInfo
- Publication number
- DE102014018912A1 DE102014018912A1 DE102014018912.0A DE102014018912A DE102014018912A1 DE 102014018912 A1 DE102014018912 A1 DE 102014018912A1 DE 102014018912 A DE102014018912 A DE 102014018912A DE 102014018912 A1 DE102014018912 A1 DE 102014018912A1
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- DE
- Germany
- Prior art keywords
- reflector
- measuring
- end effector
- robot
- unit
- 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.)
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Classifications
-
- 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
-
- 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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- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
-
- 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
- G05B2219/40623—Track position of end effector by laser beam
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
Die Erfindung betrifft eine Vorrichtung (2) zur Positionsermittlung eines Endeffektors (3) eines Roboters (1). Erfindungsgemäß ist ein Messreflektor (6) an dem Endeffektor (3) angeordnet oder anordbar, wobei der Messreflektor (6) einen prismatisch geformten Reflektor (6.1) und eine Anzahl von benachbart zu dem prismatischen Reflektor (6.1) angeordneten Lichtquellen (6.2 bis 6.n) umfasst. Weiterhin ist eine auf den Messreflektor (6) gerichtete und zur Aussendung und zum Empfang von Laserstrahlung (LA) und zum Empfang einer von der Anzahl der Lichtquellen (6.2 bis 6.n) ausgesendeten Lichtstrahlung (LI) ausgebildete Messeinheit (7) vorgesehen, wobei der Messreflektor (6) und die Messeinheit (7) derart ausgebildet und angeordnet sind, dass anhand vom Messreflektor (6) reflektierter Laserstrahlung (LA) und der ausgesendeten Lichtstrahlung (LI) eine Position (POS) des Endeffektors (3) in sechs Dimensionen ermittelbar ist. Die Erfindung betrifft weiterhin ein Verfahren zur Positionsermittlung eines Endeffektors (3) eines Roboters (1) und eine Steuervorrichtung zur Steuerung eines Roboters (1).The invention relates to a device (2) for determining the position of an end effector (3) of a robot (1). According to the invention, a measuring reflector (6) is arranged or arrangeable on the end effector (3), the measuring reflector (6) having a prismatically shaped reflector (6.1) and a number of light sources (6.2 to 6.n) arranged adjacent to the prismatic reflector (6.1) ). Furthermore, a measurement unit (7) directed at the measurement reflector (6) and designed to emit and receive laser radiation (LA) and to receive light radiation (LI) emitted by the number of light sources (6.2 to 6.n) is provided the measuring reflector (6) and the measuring unit (7) are designed and arranged such that a position (POS) of the end effector (3) can be determined in six dimensions on the basis of the measuring reflector (6) of reflected laser radiation (LA) and the emitted light radiation (LI) is. The invention further relates to a method for determining the position of an end effector (3) of a robot (1) and a control device for controlling a robot (1).
Description
Die Erfindung betrifft Vorrichtung und ein Verfahren zur Positionsermittlung eines Endeffektors eines Roboters.The invention relates to a device and a method for determining the position of an end effector of a robot.
Die Erfindung betrifft weiterhin Steuervorrichtung zur Steuerung eines Roboters.The invention further relates to a control device for controlling a robot.
Aus der
Der Erfindung liegt die Aufgabe zu Grunde, eine gegenüber dem Stand der Technik verbesserte Vorrichtung und ein verbessertes Verfahren zur Positionserfassung eines Endeffektors eines Roboters sowie eine verbesserte Steuervorrichtung zur Steuerung eines Roboters anzugeben.It is an object of the present invention to provide a device which is improved over the prior art and an improved method for detecting the position of an end effector of a robot as well as an improved control device for controlling a robot.
Hinsichtlich der Vorrichtung wird die Aufgabe erfindungsgemäß durch die im Anspruch 1 angegebenen Merkmale, hinsichtlich des Verfahrens durch die im Anspruch 5 angegebenen Merkmale und hinsichtlich der Steuervorrichtung durch die im Anspruch 7 angegebenen Merkmale gelöst.With regard to the device, the object is achieved by the features specified in claim 1, in terms of the method by the features specified in
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.
Die Vorrichtung zur Positionsermittlung eines Endeffektors eines Roboters umfasst erfindungsgemäß einen Messreflektor, welcher an dem Endeffektor angeordnet oder anordbar ist, wobei der Messreflektor einen prismatisch geformten Reflektor und eine Anzahl von benachbart zu dem prismatischen Reflektor angeordneten Lichtquellen umfasst. Weiterhin umfasst die Vorrichtung erfindungsgemäß eine auf den Messreflektor gerichtete und zur Aussendung und zum Empfang von Laserstrahlung und zum Empfang einer von der Anzahl der Lichtquellen ausgesendeten Lichtstrahlung ausgebildete Messeinheit, wobei der Messreflektor und die Messeinheit derart ausgebildet und angeordnet sind, dass anhand vom Messreflektor reflektierter Laserstrahlung und der ausgesendeten Lichtstrahlung eine Position des Endeffektors in sechs Dimensionen ermittelbar ist.The device for determining the position of an end effector of a robot according to the invention comprises a measurement reflector, which is arranged or can be arranged on the end effector, wherein the measurement reflector comprises a prismatically shaped reflector and a number of adjacent to the prismatic reflector arranged light sources. Furthermore, the device according to the invention comprises a directed onto the measuring reflector and for emitting and receiving laser radiation and receiving a emitted from the number of light sources light radiation measuring unit, wherein the measuring reflector and the measuring unit are designed and arranged such that on the basis of the measuring reflector reflected laser radiation and the emitted light radiation, a position of the end effector in six dimensions can be determined.
Insbesondere gegenüber einer aus dem Stand der Technik bekannten Ermittlung der Position des Endeffektors aus einer Stellung von sechs Rotationsachsen und deren kinematischer Beziehungen ist mittels der erfindungsgemäßen Vorrichtung die Position des Endeffektors kontinuierlich in Echtzeit und sehr genau, insbesondere mit einer Genauigkeit von weniger als 0,1 mm, bestimmbar. Dies resultiert insbesondere daraus, dass Toleranzen und Spiele in einer Roboterkinematik keinen Einfluss auf die Ermittlung der Position haben. Bei einer Verwendung der Vorrichtung zur Steuerung der Position des Endeffektors des Roboters ist die Steuerung daraus folgend sehr präzise und schnell durchführbar. Somit sind mittels des Roboters hochgenaue Anwendungen, insbesondere auch Bearbeitungen von Werkstücken, durchführbar, wodurch ein Automatisierungsgrad in einer Produktion erhöht werden kann. Auch werden aufgrund des Entfalls oder einer Verringerung von Lern-, Kalibrierungs- und Justierungsoperationen Produktionsausfälle vermieden oder zumindest verringert. Daraus folgt wiederum eine signifikante Kostenersparnis.In particular, compared to a known from the prior art determination of the position of the end effector from a position of six axes of rotation and their kinematic relationships by means of the device according to the invention, the position of the end effector continuously in real time and very accurate, in particular with an accuracy of less than 0.1 mm, determinable. This results in particular from the fact that tolerances and games in a robot kinematics have no influence on the determination of the position. When using the device for controlling the position of the end effector of the robot, the control is consequently very precise and quick to carry out. Thus, by means of the robot highly accurate applications, in particular also machining of workpieces, feasible, whereby a degree of automation in a production can be increased. Also, due to the elimination or reduction of learning, calibration and adjustment operations, production losses are avoided or at least reduced. This in turn leads to significant cost savings.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.Embodiments of the invention are explained in more detail below with reference to drawings.
Dabei zeigen:Showing:
Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.Corresponding parts are provided in all figures with the same reference numerals.
In
Der Roboter
Für die Positionierung des Endeffektors
Für eine solche genaue Bestimmung der Position POS des Endeffektors
Weiterhin umfasst die Vorrichtung
Um weiterhin auch eine Orientierung OR des Messreflektors
Somit ist mittels der Vorrichtung
Zur Steuerung des Roboters
Die aus der transformierten Absolutposition APOS und Orientierung OR ermittelte Position POS wird als Regelgröße des dargestellten Regelkreises verwendet und anschließend mit einer von der Steuereinheit
Die Steuereinheit
Somit ist es möglich, die Position POS des Endeffektors
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102009030883 A1 [0003] DE 102009030883 A1 [0003]
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014018912.0A DE102014018912A1 (en) | 2014-12-17 | 2014-12-17 | Device and method for determining the position of an end effector of a robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014018912.0A DE102014018912A1 (en) | 2014-12-17 | 2014-12-17 | Device and method for determining the position of an end effector of a robot |
Publications (1)
Publication Number | Publication Date |
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DE102014018912A1 true DE102014018912A1 (en) | 2015-06-18 |
Family
ID=53192657
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102014018912.0A Withdrawn DE102014018912A1 (en) | 2014-12-17 | 2014-12-17 | Device and method for determining the position of an end effector of a robot |
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DE (1) | DE102014018912A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109311169A (en) * | 2016-06-20 | 2019-02-05 | 三菱重工业株式会社 | Robot control system and robot control method |
CN110497417A (en) * | 2019-09-25 | 2019-11-26 | 李宏达 | A kind of multi-axis robot based on high-precision three-dimensional space positioning system |
CN113795355A (en) * | 2019-04-12 | 2021-12-14 | 株式会社尼康 | Robot system, end effector unit, and adapter |
EP4190477A4 (en) * | 2020-07-29 | 2024-04-10 | Nikon Corporation | Processing system |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009030883A1 (en) | 2009-06-19 | 2010-12-23 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Positioning determining system for e.g. calibrating position of robot, has light generation arrangement fixed at movable section such that light structure is formed relative to section, and sensor arrangement arranged in position space |
-
2014
- 2014-12-17 DE DE102014018912.0A patent/DE102014018912A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009030883A1 (en) | 2009-06-19 | 2010-12-23 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Positioning determining system for e.g. calibrating position of robot, has light generation arrangement fixed at movable section such that light structure is formed relative to section, and sensor arrangement arranged in position space |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109311169A (en) * | 2016-06-20 | 2019-02-05 | 三菱重工业株式会社 | Robot control system and robot control method |
EP3456490A4 (en) * | 2016-06-20 | 2019-07-10 | Mitsubishi Heavy Industries, Ltd. | Robot control system and robot control method |
US11780091B2 (en) | 2016-06-20 | 2023-10-10 | Mitsubishi Heavy Industries, Ltd. | Robot control system and robot control method |
CN113795355A (en) * | 2019-04-12 | 2021-12-14 | 株式会社尼康 | Robot system, end effector unit, and adapter |
EP3954508A4 (en) * | 2019-04-12 | 2023-05-17 | Nikon Corporation | Robot system, end effector system, end effector unit, and adapter |
CN110497417A (en) * | 2019-09-25 | 2019-11-26 | 李宏达 | A kind of multi-axis robot based on high-precision three-dimensional space positioning system |
EP4190477A4 (en) * | 2020-07-29 | 2024-04-10 | Nikon Corporation | Processing system |
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R230 | Request for early publication | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |