DE602005008271D1 - Verfahren und system zum ermöglichen von erhöhter genauigkeit bei mehrfachverbundenen robotern durch berechnung der kinematischen robotermodellparameter - Google Patents

Verfahren und system zum ermöglichen von erhöhter genauigkeit bei mehrfachverbundenen robotern durch berechnung der kinematischen robotermodellparameter

Info

Publication number
DE602005008271D1
DE602005008271D1 DE200560008271 DE602005008271T DE602005008271D1 DE 602005008271 D1 DE602005008271 D1 DE 602005008271D1 DE 200560008271 DE200560008271 DE 200560008271 DE 602005008271 T DE602005008271 T DE 602005008271T DE 602005008271 D1 DE602005008271 D1 DE 602005008271D1
Authority
DE
Germany
Prior art keywords
robots
linked
calculating
multi
system
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 - Fee Related
Application number
DE200560008271
Other languages
English (en)
Inventor
Wally C Hoppe
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.)
University of Dayton
Original Assignee
University of Dayton
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
Priority to US62183804P priority Critical
Application filed by University of Dayton filed Critical University of Dayton
Priority to PCT/US2005/038359 priority patent/WO2006086021A2/en
Publication of DE602005008271D1 publication Critical patent/DE602005008271D1/de
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1692Calibration of manipulator
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/37Measurements
    • G05B2219/37123Extensible ball bar with potentiometer, lvdt
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/39Robotics, robotics to robotics hand
    • G05B2219/39015With different manipulator configurations, contact known sphere, ballbar
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/39Robotics, robotics to robotics hand
    • G05B2219/39022Transform between measuring and manipulator coordinate system
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40527Modeling, identification of link parameters
DE200560008271 2004-10-25 2005-10-25 Verfahren und system zum ermöglichen von erhöhter genauigkeit bei mehrfachverbundenen robotern durch berechnung der kinematischen robotermodellparameter Expired - Fee Related DE602005008271D1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US62183804P true 2004-10-25 2004-10-25
PCT/US2005/038359 WO2006086021A2 (en) 2004-10-25 2005-10-25 Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination

Publications (1)

Publication Number Publication Date
DE602005008271D1 true DE602005008271D1 (de) 2008-08-28

Family

ID=36793528

Family Applications (1)

Application Number Title Priority Date Filing Date
DE200560008271 Expired - Fee Related DE602005008271D1 (de) 2004-10-25 2005-10-25 Verfahren und system zum ermöglichen von erhöhter genauigkeit bei mehrfachverbundenen robotern durch berechnung der kinematischen robotermodellparameter

Country Status (6)

Country Link
US (1) US7904202B2 (de)
EP (1) EP1809446B1 (de)
JP (1) JP2008522836A (de)
AT (1) AT401170T (de)
DE (1) DE602005008271D1 (de)
WO (1) WO2006086021A2 (de)

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Also Published As

Publication number Publication date
EP1809446A2 (de) 2007-07-25
AT401170T (de) 2008-08-15
US20080188986A1 (en) 2008-08-07
WO2006086021A2 (en) 2006-08-17
EP1809446B1 (de) 2008-07-16
WO2006086021A3 (en) 2007-03-15
JP2008522836A (ja) 2008-07-03
US7904202B2 (en) 2011-03-08

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