DE69113024D1 - Verfahren zum festlegen eines koordinatensystems für einen roboter. - Google Patents

Verfahren zum festlegen eines koordinatensystems für einen roboter.

Info

Publication number
DE69113024D1
DE69113024D1 DE69113024T DE69113024T DE69113024D1 DE 69113024 D1 DE69113024 D1 DE 69113024D1 DE 69113024 T DE69113024 T DE 69113024T DE 69113024 T DE69113024 T DE 69113024T DE 69113024 D1 DE69113024 D1 DE 69113024D1
Authority
DE
Germany
Prior art keywords
robot
determining
coordinate system
coordinate
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
DE69113024T
Other languages
English (en)
Other versions
DE69113024T2 (de
Inventor
A Watanabe
F Terawaki
Fumikazu Warashina
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.)
Fanuc Corp
Original Assignee
Fanuc 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 Fanuc Corp filed Critical Fanuc Corp
Application granted granted Critical
Publication of DE69113024D1 publication Critical patent/DE69113024D1/de
Publication of DE69113024T2 publication Critical patent/DE69113024T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • 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
    • G05B19/408—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 data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4086—Coordinate conversions; Other special calculations
    • 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
    • G05B2219/39399—Convert position of old, teach to new, changed, actual tool by transform matrix
DE69113024T 1990-11-16 1991-11-15 Verfahren zum festlegen eines koordinatensystems für einen roboter. Expired - Fee Related DE69113024T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2310711A JP2783456B2 (ja) 1990-11-16 1990-11-16 ロボットの座標系設定方式
PCT/JP1991/001566 WO1992009019A1 (en) 1990-11-16 1991-11-15 Method for setting coordinate system of robot

Publications (2)

Publication Number Publication Date
DE69113024D1 true DE69113024D1 (de) 1995-10-19
DE69113024T2 DE69113024T2 (de) 1996-02-01

Family

ID=18008552

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69113024T Expired - Fee Related DE69113024T2 (de) 1990-11-16 1991-11-15 Verfahren zum festlegen eines koordinatensystems für einen roboter.

Country Status (5)

Country Link
US (1) US5333242A (de)
EP (1) EP0511396B1 (de)
JP (1) JP2783456B2 (de)
DE (1) DE69113024T2 (de)
WO (1) WO1992009019A1 (de)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2710407B1 (fr) * 1993-09-20 1995-12-01 Romer Srl Procédé de repérage positionnel pour une machine de mesure tridimensionnelle et dispositif pour la mise en Óoeuvre du procédé.
JP3394322B2 (ja) 1994-05-19 2003-04-07 ファナック株式会社 視覚センサを用いた座標系設定方法
US6243621B1 (en) 1998-03-13 2001-06-05 Fanuc Robotics North America, Inc. Method of determining workpiece positions including coordinated motion
US9517106B2 (en) 1999-09-17 2016-12-13 Intuitive Surgical Operations, Inc. Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
US6374155B1 (en) 1999-11-24 2002-04-16 Personal Robotics, Inc. Autonomous multi-platform robot system
US6741054B2 (en) 2000-05-02 2004-05-25 Vision Robotics Corporation Autonomous floor mopping apparatus
US6480759B1 (en) 2000-06-23 2002-11-12 Storage Technology Corporation Diagnostic port between independent robots
DE602004019781D1 (de) * 2003-06-20 2009-04-16 Fanuc Robotics America Inc Mehrfach-roboterarm-verfolgung und spiegel-jog
US8588981B2 (en) * 2004-03-16 2013-11-19 Abb Ab System of manipulators and method for controlling such a system
DE102004026813A1 (de) 2004-06-02 2005-12-29 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern von Handhabungsgeräten
WO2006108017A2 (en) * 2005-04-04 2006-10-12 Lc Technologies, Inc. Explicit raytracing for gimbal-based gazepoint trackers
JP4461159B2 (ja) * 2007-06-14 2010-05-12 ヤマハファインテック株式会社 プリント基板の検査装置および検査方法
WO2013181507A1 (en) 2012-06-01 2013-12-05 Intuitive Surgical Operations, Inc. Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
DE102014204475A1 (de) * 2014-03-11 2015-09-17 Kuka Systems Gmbh Verfahren zum Betreiben eines Roboters
CN104192221B (zh) * 2014-09-26 2016-06-29 哈尔滨工业大学 一种电驱动六足机器人运动控制系统及方法
CN104331075B (zh) * 2014-09-28 2017-02-08 哈尔滨工业大学 六足机器人操纵系统及操纵方法
GB201509341D0 (en) 2015-05-29 2015-07-15 Cambridge Medical Robotics Ltd Characterising robot environments
US10078330B2 (en) 2016-03-25 2018-09-18 International Business Machines Corporation Coordinating robotic apparatus deliveries
JP2018012188A (ja) * 2016-06-03 2018-01-25 ファナック アメリカ コーポレイション 複数のロボットによる動的レーザタッチセンシング及び動的ユーザ座標系
JP6815924B2 (ja) 2017-04-19 2021-01-20 トヨタ自動車株式会社 キャリブレーション装置
SG10201708171QA (en) * 2017-10-04 2019-05-30 Arche Information Inc A comprehensive multi-agent robotics management system
KR102015498B1 (ko) * 2018-06-27 2019-10-23 엘지전자 주식회사 복수의 자율주행 청소기 및 그 제어방법

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62108314A (ja) * 1985-11-07 1987-05-19 Mitsubishi Electric Corp ロボツトのオフラインプログラミング装置
JPS6334606A (ja) * 1986-07-29 1988-02-15 Matsushita Electric Ind Co Ltd 産業用ロボツトの教示方法
JPS63184806A (ja) * 1987-01-28 1988-07-30 Fujitsu Ltd ロボツトによる相対座標系情報テイ−チング方式
JPS6482202A (en) * 1987-09-25 1989-03-28 Yamazaki Mazak Corp Method for controlling coordinates system in machine tool
JP2703767B2 (ja) * 1987-10-05 1998-01-26 株式会社日立製作所 ロボットの教示データ作成方法
JPH01237802A (ja) * 1988-03-18 1989-09-22 Tokico Ltd 工業用ロボットのティーチングデータ変換装置
JPH02262986A (ja) * 1989-03-31 1990-10-25 Kobe Steel Ltd ロボットのオフライン教示方法
JP2652444B2 (ja) * 1989-04-14 1997-09-10 松下電器産業株式会社 ロボットシステム
JPH0736993B2 (ja) * 1989-07-27 1995-04-26 株式会社不二越 産業用ロボットシステム

Also Published As

Publication number Publication date
EP0511396B1 (de) 1995-09-13
DE69113024T2 (de) 1996-02-01
EP0511396A1 (de) 1992-11-04
JP2783456B2 (ja) 1998-08-06
US5333242A (en) 1994-07-26
JPH04181405A (ja) 1992-06-29
WO1992009019A1 (en) 1992-05-29
EP0511396A4 (en) 1992-12-30

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)
8339 Ceased/non-payment of the annual fee