DE3832457C2 - - Google Patents

Info

Publication number
DE3832457C2
DE3832457C2 DE19883832457 DE3832457A DE3832457C2 DE 3832457 C2 DE3832457 C2 DE 3832457C2 DE 19883832457 DE19883832457 DE 19883832457 DE 3832457 A DE3832457 A DE 3832457A DE 3832457 C2 DE3832457 C2 DE 3832457C2
Authority
DE
Germany
Prior art keywords
axis
rotation
absolute
cycle
value
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
DE19883832457
Other languages
German (de)
English (en)
Other versions
DE3832457A1 (de
Inventor
Daniel Dipl.-Ing. 8901 Kissing De Hobmaier
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.)
KUKA Deutschland GmbH
Original Assignee
KUKA Schweissanlagen und Roboter 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 KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Priority to DE19883832457 priority Critical patent/DE3832457A1/de
Priority to DE19883837526 priority patent/DE3837526A1/de
Priority to PCT/EP1989/001104 priority patent/WO1990003553A1/de
Publication of DE3832457A1 publication Critical patent/DE3832457A1/de
Application granted granted Critical
Publication of DE3832457C2 publication Critical patent/DE3832457C2/de
Granted legal-status Critical Current

Links

Classifications

    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
DE19883832457 1988-09-23 1988-09-23 Verfahren und vorrichtung zur absoluten positionsbestimmung an einer drehachse Granted DE3832457A1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE19883832457 DE3832457A1 (de) 1988-09-23 1988-09-23 Verfahren und vorrichtung zur absoluten positionsbestimmung an einer drehachse
DE19883837526 DE3837526A1 (de) 1988-09-23 1988-11-04 Verfahren und vorrichtung zum justieren einer achse
PCT/EP1989/001104 WO1990003553A1 (de) 1988-09-23 1989-09-22 Verfahren und vorrichtung zur absoluten positionsbestimmung an einer drehachse

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19883832457 DE3832457A1 (de) 1988-09-23 1988-09-23 Verfahren und vorrichtung zur absoluten positionsbestimmung an einer drehachse

Publications (2)

Publication Number Publication Date
DE3832457A1 DE3832457A1 (de) 1989-11-30
DE3832457C2 true DE3832457C2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1991-03-28

Family

ID=6363623

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19883832457 Granted DE3832457A1 (de) 1988-09-23 1988-09-23 Verfahren und vorrichtung zur absoluten positionsbestimmung an einer drehachse

Country Status (2)

Country Link
DE (1) DE3832457A1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
WO (1) WO1990003553A1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020203671A1 (de) 2020-03-23 2021-09-23 Kuka Deutschland Gmbh Verfahren zum Steuern eines Roboterarms

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5191271A (en) 1988-11-04 1993-03-02 Kuka Schweissanlagen & Roboter Gmbh Process and device for adjusting an axis
DE4116579C2 (de) * 1991-05-21 1993-11-04 Busch Dieter & Co Prueftech Verfahren und vorrichtung zum bestimmen der drehzahl und der winkellage rotierender einrichtungen
DE10130498A1 (de) * 2001-06-25 2003-01-23 Duerr Systems Gmbh Verfahren und System zum Erzeugen von Referenzdaten für eine mehrachsig bewegbare Maschine
DE102010021375B4 (de) * 2010-05-25 2015-02-05 Pierburg Gmbh Verfahren zur Erfassung der Lage und des Diskontinue-Punktes mit einem Winkelsensor
DE102016213965A1 (de) 2016-07-28 2018-02-01 Kuka Roboter Gmbh Einsteckadapter, Justageinstrument und zugehöriger Roboter
CN115648285B (zh) * 2022-09-19 2023-07-21 重庆智能机器人研究院 机器人本体零点外部校准方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2357061C2 (de) * 1973-11-15 1985-02-14 Robert Bosch Gmbh, 7000 Stuttgart Einrichtung zur Abgabe von gleichmäßigen Impulsen bei bestimmten Winkelstellungen einer drehbaren Welle und zur Bildung von wenigstens einem Bezugssignal
DE3011822A1 (de) * 1980-03-27 1981-10-01 Robert Bosch Gmbh, 7000 Stuttgart Sensoranordnung
JPS57204404A (en) * 1981-06-11 1982-12-15 Asahi Seiki Kogyo Kk Angle detecting device
JPS59116009A (ja) * 1982-12-23 1984-07-04 Toshiba Corp 物体の位置検出装置
JPS59197819A (ja) * 1983-04-25 1984-11-09 Mitsubishi Electric Corp ロ−タリエンコ−ダ
DE3407102A1 (de) * 1984-02-28 1985-09-05 Euchner & Co, 7022 Leinfelden-Echterdingen Positionsgeber
DE3604160A1 (en) * 1986-02-10 1987-09-10 T & R Electronic Gmbh Auxiliary device in connection with an electronic counter control device
FR2595461B1 (fr) * 1986-03-04 1991-08-16 Peugeot Procede de reperage angulaire d'une machine tournante

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020203671A1 (de) 2020-03-23 2021-09-23 Kuka Deutschland Gmbh Verfahren zum Steuern eines Roboterarms
DE102020203671B4 (de) 2020-03-23 2024-06-13 Kuka Deutschland Gmbh Verfahren zum Steuern eines Roboterarms

Also Published As

Publication number Publication date
WO1990003553A1 (de) 1990-04-05
DE3832457A1 (de) 1989-11-30

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Owner name: KUKA ROBOTER GMBH, 86165 AUGSBURG, DE