DE3207698C2 - - Google Patents

Info

Publication number
DE3207698C2
DE3207698C2 DE19823207698 DE3207698A DE3207698C2 DE 3207698 C2 DE3207698 C2 DE 3207698C2 DE 19823207698 DE19823207698 DE 19823207698 DE 3207698 A DE3207698 A DE 3207698A DE 3207698 C2 DE3207698 C2 DE 3207698C2
Authority
DE
Germany
Prior art keywords
robot arm
industrial robot
robot according
correction
arm
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.)
Expired - Lifetime
Application number
DE19823207698
Other languages
German (de)
English (en)
Other versions
DE3207698A1 (de
Inventor
Gerhard Dr.-Ing. 6120 Michelstadt De Widl
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE19823207698 priority Critical patent/DE3207698A1/de
Publication of DE3207698A1 publication Critical patent/DE3207698A1/de
Application granted granted Critical
Publication of DE3207698C2 publication Critical patent/DE3207698C2/de
Granted 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
    • B25J18/00—Arms
    • B25J18/002—Arms comprising beam bending compensation means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • 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
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37275—Laser, interferometer
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37619—Characteristics of machine, deviation of movement, gauge
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49195—Slide, guideway, robot arm deviation

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
DE19823207698 1982-03-04 1982-03-04 Industrieroboter mit einer einrichtung zur erhoehung der arbeitsgenauigkeit Granted DE3207698A1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19823207698 DE3207698A1 (de) 1982-03-04 1982-03-04 Industrieroboter mit einer einrichtung zur erhoehung der arbeitsgenauigkeit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19823207698 DE3207698A1 (de) 1982-03-04 1982-03-04 Industrieroboter mit einer einrichtung zur erhoehung der arbeitsgenauigkeit

Publications (2)

Publication Number Publication Date
DE3207698A1 DE3207698A1 (de) 1983-09-08
DE3207698C2 true DE3207698C2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1991-06-06

Family

ID=6157239

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19823207698 Granted DE3207698A1 (de) 1982-03-04 1982-03-04 Industrieroboter mit einer einrichtung zur erhoehung der arbeitsgenauigkeit

Country Status (1)

Country Link
DE (1) DE3207698A1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0139781B1 (de) * 1983-10-28 1987-07-22 Fürstlich Hohenzollernsche Hüttenverwaltung Laucherthal Handhabungsgerät
EP0188543A1 (en) * 1984-07-13 1986-07-30 AT&T Corp. Article handling arrangement
GB2164017B (en) * 1984-09-07 1987-09-03 Fairey Eng Manipulator with laser beam mirrors
RU2185953C1 (ru) * 2001-02-02 2002-07-27 Акционерное общество "АвтоВАЗ" Стенд для контроля точности контурных перемещений промышленного робота
RU2252862C1 (ru) * 2003-09-15 2005-05-27 Открытое акционерное общество "АВТОВАЗ" (ОАО "АВТОВАЗ") Способ контроля точности контурных перемещений промышленного робота
RU2450308C2 (ru) * 2010-02-24 2012-05-10 Федеральное Государственное Образовательное Учреждение Высшего Профессионального Образования "Южный Федеральный Университет" Способ управления подвижным объектом и устройство для его реализации
RU2466858C1 (ru) * 2011-06-01 2012-11-20 Российская Федерация в лице Министерства промышленности и торговли Российской Федерации Способ контроля точности контурных перемещений промышленных роботов
RU2472612C1 (ru) * 2011-06-01 2013-01-20 Российская Федерация, От Имени Которой Выступает Министерство Промышленности И Торговли Российской Федерации Стенд для контроля точности контурных перемещений промышленного робота
RU2531864C1 (ru) * 2013-06-14 2014-10-27 Федеральное государственное автономное образовательное учреждение высшего профессионального образования "Южный федеральный университет" (Южный федеральный университет) Устройство управления подвижным объектом
JP6564425B2 (ja) 2017-07-04 2019-08-21 ファナック株式会社 ロボットシステム

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2082173A5 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) * 1970-03-05 1971-12-10 Bas Rhone Languedoc Amen
US4119212A (en) * 1977-07-18 1978-10-10 Western Electric Company, Inc. Monitoring the location of a robot hand

Also Published As

Publication number Publication date
DE3207698A1 (de) 1983-09-08

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Legal Events

Date Code Title Description
8101 Request for examination as to novelty
8105 Search report available
8110 Request for examination paragraph 44
8120 Willingness to grant licenses paragraph 23
D2 Grant after examination
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee