DE3463912D1 - System for automatically calibrating the space coordinates of a robot gripper in six degrees of freedom - Google Patents

System for automatically calibrating the space coordinates of a robot gripper in six degrees of freedom

Info

Publication number
DE3463912D1
DE3463912D1 DE8484107437T DE3463912T DE3463912D1 DE 3463912 D1 DE3463912 D1 DE 3463912D1 DE 8484107437 T DE8484107437 T DE 8484107437T DE 3463912 T DE3463912 T DE 3463912T DE 3463912 D1 DE3463912 D1 DE 3463912D1
Authority
DE
Germany
Prior art keywords
freedom
degrees
space coordinates
robot gripper
automatically calibrating
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
Application number
DE8484107437T
Other languages
English (en)
Inventor
Laszlo Szonyi
Gosta Edvard Ekstrom
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.)
International Business Machines Corp
Original Assignee
International Business Machines 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 International Business Machines Corp filed Critical International Business Machines Corp
Application granted granted Critical
Publication of DE3463912D1 publication Critical patent/DE3463912D1/de
Expired 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—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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50139—Calibration, setting tool after measurement on tool

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE8484107437T 1983-07-22 1984-06-28 System for automatically calibrating the space coordinates of a robot gripper in six degrees of freedom Expired DE3463912D1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE8304101A SE8304101L (sv) 1983-07-22 1983-07-22 System for automatisk kalibrering av rymdkoordinater hos en robotgripper i sex frihetsgrader

Publications (1)

Publication Number Publication Date
DE3463912D1 true DE3463912D1 (en) 1987-07-02

Family

ID=20352040

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8484107437T Expired DE3463912D1 (en) 1983-07-22 1984-06-28 System for automatically calibrating the space coordinates of a robot gripper in six degrees of freedom

Country Status (8)

Country Link
US (1) US4581566A (de)
EP (1) EP0132616B1 (de)
JP (1) JPS6025681A (de)
DE (1) DE3463912D1 (de)
DK (1) DK357684A (de)
FI (1) FI76275C (de)
NO (1) NO159065C (de)
SE (1) SE8304101L (de)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4683406A (en) * 1984-06-08 1987-07-28 Nec Corporation Joint assembly movable like a human arm
JPS6125207A (ja) * 1984-07-12 1986-02-04 Fanuc Ltd ツ−ル座標系の設定方式
JP2684359B2 (ja) * 1985-02-22 1997-12-03 ファナック 株式会社 ロボットのワーク直交座標系設定装置
JPS61203286A (ja) * 1985-03-07 1986-09-09 三菱電機株式会社 産業用ロボツト装置
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
DD240351A1 (de) * 1985-08-19 1986-10-29 Werkzeugmasch Okt Veb Industrieroboter fuer die handhabung von werkstuecken und werkzeugen
US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US4725965A (en) * 1986-07-23 1988-02-16 American Telephone And Telegraph Company Method for calibrating a SCARA robot
US4841762A (en) * 1987-10-27 1989-06-27 Automatix Incorporated Symmetry calibration method for multi-configuration robots
US4908777A (en) * 1988-01-27 1990-03-13 Storage Technology Corporation Robot arm calibration system
US5086319A (en) * 1989-11-17 1992-02-04 Xerox Corporation Multiple servo system for compensation of document mis-registration
US5105368A (en) * 1990-08-01 1992-04-14 At&T Bell Laboratories Method for improving robot accuracy
US5392384A (en) * 1991-04-09 1995-02-21 Kabushiki Kaisha Yaskawa Denki Method of calibrating an industrial robot
JPH04359302A (ja) * 1991-06-05 1992-12-11 Hitachi Ltd ロボットの制御方法
US5798627A (en) * 1995-01-04 1998-08-25 Gilliland; Malcolm T. Method for simultaneous operation of robot welders
KR0176662B1 (ko) * 1995-12-28 1999-04-01 김광호 칩마운터용 직교로봇의 칩마운팅 위치제어방법 및 위치제어장치
DE19616276C2 (de) * 1996-04-24 1998-04-30 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Vermessen und Kalibrieren eines mehrachsigen Manipulators
US5740328A (en) * 1996-08-12 1998-04-14 The Regents Of The University Of California Apparatus for robotic positional referencing and calibration
US6571148B1 (en) 2000-05-03 2003-05-27 The Boeing Company System for automatically certifying the accuracy of a manufacturing machine and associated methods
TW493799U (en) * 2000-12-15 2002-07-01 Mosel Vitelic Inc Teaching tool for a robot arm for wafer reaction ovens
DE10203002B4 (de) * 2002-01-26 2006-12-28 Wilhelm Karmann Gmbh Vorrichtung zum Kalibrieren eines Roboters
JP4578808B2 (ja) * 2004-01-08 2010-11-10 本田技研工業株式会社 アシスト搬送装置
JP4578809B2 (ja) * 2004-01-08 2010-11-10 本田技研工業株式会社 アシスト搬送装置
JP2014176943A (ja) * 2013-03-15 2014-09-25 Yaskawa Electric Corp ロボットシステム、校正方法及び被加工物の製造方法
CN103707292B (zh) * 2013-12-30 2015-08-19 上海交通大学 基于xyz直角坐标关节和姿态腕的6自由度工业机器人
TW201600275A (zh) * 2014-06-26 2016-01-01 Hiwin Tech Corp 機械手臂系統及其平行度校正方法
US10331105B2 (en) * 2015-08-07 2019-06-25 Spm Automation (Canada) Inc. Machine for self-adjusting its operation to compensate for part-to-part variations
EP3703987A1 (de) * 2017-11-03 2020-09-09 Starship Technologies OÜ Vorrichtung, system und verfahren zum speichern, sichern und warten eines mobilen roboters
WO2022074448A1 (en) * 2020-10-06 2022-04-14 Mark Oleynik Robotic kitchen hub systems and methods for minimanipulation library adjustments and calibrations of multi-functional robotic platforms for commercial and residential environments with artificial intelligence and machine learning
GB2616844A (en) * 2022-03-20 2023-09-27 True Position Robotics Ltd Robot guidance using multiple frames

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51141165A (en) * 1975-05-29 1976-12-04 Toshiba Corp Reference position adjusting system for industrial robot
SE443531B (sv) * 1978-11-27 1986-03-03 Asea Ab Industrirobotutrustning
US4362977A (en) * 1980-06-30 1982-12-07 International Business Machines Corporation Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot
JPH065486B2 (ja) * 1981-03-26 1994-01-19 株式会社安川電機 ロボットの軌跡制御方法
US4372721A (en) * 1981-05-18 1983-02-08 Nordson Corporation Apparatus for calibrating link position transducers of a teaching robot and a work robot

Also Published As

Publication number Publication date
US4581566A (en) 1986-04-08
JPH0429516B2 (de) 1992-05-19
FI842847A0 (fi) 1984-07-16
EP0132616A1 (de) 1985-02-13
FI76275B (fi) 1988-06-30
NO159065C (no) 1988-11-30
JPS6025681A (ja) 1985-02-08
DK357684A (da) 1985-01-23
EP0132616B1 (de) 1987-05-27
DK357684D0 (da) 1984-07-20
FI842847A (fi) 1985-01-23
SE8304101D0 (sv) 1983-07-22
NO159065B (no) 1988-08-22
FI76275C (fi) 1988-10-10
NO842908L (no) 1985-01-23
SE8304101L (sv) 1985-01-23

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee