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

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Publication number
DE602005008271D1
DE602005008271D1 DE602005008271T DE602005008271T DE602005008271D1 DE 602005008271 D1 DE602005008271 D1 DE 602005008271D1 DE 602005008271 T DE602005008271 T DE 602005008271T DE 602005008271 T DE602005008271 T DE 602005008271T DE 602005008271 D1 DE602005008271 D1 DE 602005008271D1
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DE
Germany
Prior art keywords
model parameters
present
robot
robot model
robots
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
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DE602005008271T
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English (en)
Inventor
Wally C Hoppe
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University of Dayton
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University of Dayton
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Publication date
Application filed by University of Dayton filed Critical University of Dayton
Publication of DE602005008271D1 publication Critical patent/DE602005008271D1/de
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G05B2219/37—Measurements
    • G05B2219/37123—Extensible ball bar with potentiometer, lvdt
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39015—With different manipulator configurations, contact known sphere, ballbar
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39022—Transform between measuring and manipulator coordinate system
    • 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
    • G05B2219/40527—Modeling, identification of link parameters

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE602005008271T 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)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US62183804P 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
DE602005008271T 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) ATE401170T1 (de)
DE (1) DE602005008271D1 (de)
WO (1) WO2006086021A2 (de)

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WO2006086021A3 (en) 2007-03-15
US20080188986A1 (en) 2008-08-07
EP1809446B1 (de) 2008-07-16
EP1809446A2 (de) 2007-07-25
WO2006086021A2 (en) 2006-08-17
ATE401170T1 (de) 2008-08-15
JP2008522836A (ja) 2008-07-03

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