DE69223127T2 - Automatische kalibriereinrichtung - Google Patents

Automatische kalibriereinrichtung

Info

Publication number
DE69223127T2
DE69223127T2 DE69223127T DE69223127T DE69223127T2 DE 69223127 T2 DE69223127 T2 DE 69223127T2 DE 69223127 T DE69223127 T DE 69223127T DE 69223127 T DE69223127 T DE 69223127T DE 69223127 T2 DE69223127 T2 DE 69223127T2
Authority
DE
Germany
Prior art keywords
calibration device
automatic calibration
automatic
calibration
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
DE69223127T
Other languages
English (en)
Other versions
DE69223127D1 (de
Inventor
Atsushi Watanabe
Fumikazu 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
Publication of DE69223127D1 publication Critical patent/DE69223127D1/de
Application granted granted Critical
Publication of DE69223127T2 publication Critical patent/DE69223127T2/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
    • G05B19/401—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
DE69223127T 1991-07-04 1992-07-06 Automatische kalibriereinrichtung Expired - Fee Related DE69223127T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP3189525A JP2700965B2 (ja) 1991-07-04 1991-07-04 自動キャリブレーション方式
PCT/JP1992/000851 WO1993001029A1 (en) 1991-07-04 1992-07-06 Automatic calibration method

Publications (2)

Publication Number Publication Date
DE69223127D1 DE69223127D1 (de) 1997-12-18
DE69223127T2 true DE69223127T2 (de) 1998-03-05

Family

ID=16242751

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69223127T Expired - Fee Related DE69223127T2 (de) 1991-07-04 1992-07-06 Automatische kalibriereinrichtung

Country Status (6)

Country Link
US (1) US5471312A (de)
EP (1) EP0549805B1 (de)
JP (1) JP2700965B2 (de)
KR (1) KR970005616B1 (de)
DE (1) DE69223127T2 (de)
WO (1) WO1993001029A1 (de)

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US5960125A (en) 1996-11-21 1999-09-28 Cognex Corporation Nonfeedback-based machine vision method for determining a calibration relationship between a camera and a moveable object
US6075881A (en) 1997-03-18 2000-06-13 Cognex Corporation Machine vision methods for identifying collinear sets of points from an image
US6044308A (en) * 1997-06-13 2000-03-28 Huissoon; Jan Paul Method and device for robot tool frame calibration
US6608647B1 (en) 1997-06-24 2003-08-19 Cognex Corporation Methods and apparatus for charge coupled device image acquisition with independent integration and readout
US6445964B1 (en) 1997-08-04 2002-09-03 Harris Corporation Virtual reality simulation-based training of telekinegenesis system for training sequential kinematic behavior of automated kinematic machine
US5978080A (en) 1997-09-25 1999-11-02 Cognex Corporation Machine vision methods using feedback to determine an orientation, pixel width and pixel height of a field of view
US5978521A (en) * 1997-09-25 1999-11-02 Cognex Corporation Machine vision methods using feedback to determine calibration locations of multiple cameras that image a common object
US6381375B1 (en) 1998-02-20 2002-04-30 Cognex Corporation Methods and apparatus for generating a projection of an image
US6202031B1 (en) * 1998-04-08 2001-03-13 Mcms, Inc. Method of calibrating an automated placement machine
US6687402B1 (en) 1998-12-18 2004-02-03 Cognex Corporation Machine vision methods and systems for boundary feature comparison of patterns and images
US6381366B1 (en) 1998-12-18 2002-04-30 Cognex Corporation Machine vision methods and system for boundary point-based comparison of patterns and images
US6684402B1 (en) 1999-12-01 2004-01-27 Cognex Technology And Investment Corporation Control methods and apparatus for coupling multiple image acquisition devices to a digital data processor
US6748104B1 (en) 2000-03-24 2004-06-08 Cognex Corporation Methods and apparatus for machine vision inspection using single and multiple templates or patterns
US7166114B2 (en) * 2002-09-18 2007-01-23 Stryker Leibinger Gmbh & Co Kg Method and system for calibrating a surgical tool and adapter thereof
US6836702B1 (en) * 2003-06-11 2004-12-28 Abb Ab Method for fine tuning of a robot program
JP4865557B2 (ja) * 2003-08-15 2012-02-01 スカーペ テクノロジーズ アクティーゼルスカブ 有界三次元対象物の分類と空間ローカライゼーションのためのコンピュータ視覚システム
US7873400B2 (en) * 2003-12-10 2011-01-18 Stryker Leibinger Gmbh & Co. Kg. Adapter for surgical navigation trackers
US7771436B2 (en) * 2003-12-10 2010-08-10 Stryker Leibinger Gmbh & Co. Kg. Surgical navigation tracker, system and method
US20050246064A1 (en) * 2004-04-29 2005-11-03 Smith Gregory C Method for detecting position errors using a motion detector
US8111904B2 (en) 2005-10-07 2012-02-07 Cognex Technology And Investment Corp. Methods and apparatus for practical 3D vision system
US20070260406A1 (en) * 2006-05-03 2007-11-08 Data I/O Corporation Automated location system
KR100693016B1 (ko) * 2006-05-22 2007-03-12 심규조 비전시스템을 이용한 로봇의 캘리브레이션 방법
US8162584B2 (en) 2006-08-23 2012-04-24 Cognex Corporation Method and apparatus for semiconductor wafer alignment
US7793442B2 (en) * 2008-04-29 2010-09-14 Caterpillar Inc Avoidance system for locating electric cables
JP5272617B2 (ja) * 2008-09-26 2013-08-28 株式会社Ｉｈｉ ロボット装置及びロボット装置の制御方法
US8939842B2 (en) * 2009-01-13 2015-01-27 Meimadtek Ltd. Method and system for operating a self-propelled vehicle according to scene images
JP4763074B2 (ja) 2009-08-03 2011-08-31 ファナック株式会社 ロボットのツール先端点の位置の計測装置および計測方法
JP5795287B2 (ja) 2012-05-23 2015-10-14 株式会社堀場製作所 試験システム
US9189702B2 (en) 2012-12-31 2015-11-17 Cognex Corporation Imaging system for determining multi-view alignment
JP6468741B2 (ja) 2013-07-22 2019-02-13 キヤノン株式会社 ロボットシステム及びロボットシステムの校正方法
JP6489776B2 (ja) * 2013-08-28 2019-03-27 キヤノン株式会社 座標系校正方法、ロボットシステム、プログラム及び記録媒体
US9616569B2 (en) * 2015-01-22 2017-04-11 GM Global Technology Operations LLC Method for calibrating an articulated end effector employing a remote digital camera
US9855658B2 (en) 2015-03-19 2018-01-02 Rahul Babu Drone assisted adaptive robot control
US9718192B2 (en) * 2015-06-24 2017-08-01 National Taipei University Of Technology System for automatically and precisely positioning robotic arm and method thereof
US9815198B2 (en) 2015-07-23 2017-11-14 X Development Llc System and method for determining a work offset
US10016892B2 (en) 2015-07-23 2018-07-10 X Development Llc System and method for determining tool offsets
JP6356845B1 (ja) * 2017-02-13 2018-07-11 ファナック株式会社 検査システムの動作プログラムを生成する装置および方法
JP2020066066A (ja) * 2018-10-22 2020-04-30 セイコーエプソン株式会社 ロボットシステム、ロボットの校正治具、ロボットの校正方法
WO2020252632A1 (zh) * 2019-06-17 2020-12-24 西门子（中国）有限公司 一种坐标系校准方法、装置和计算机可读介质
JP6832408B1 (ja) * 2019-10-09 2021-02-24 Dmg森精機株式会社 生産システム
US11911915B2 (en) * 2021-06-09 2024-02-27 Intrinsic Innovation Llc Determining robotic calibration processes

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EP0114505B1 (de) * 1982-12-28 1987-05-13 Diffracto Ltd. Einrichtung und Verfahren zum Kalibrieren eines Roboters
US4581762A (en) * 1984-01-19 1986-04-08 Itran Corporation Vision inspection system
EP0151417A1 (de) * 1984-01-19 1985-08-14 Hitachi, Ltd. Verfahren zur Korrektur von Koordinatensystemen eines mit einem Sichtgerät ausgerüsteten Roboters und Apparatur dafür
JPH0727408B2 (ja) * 1984-01-19 1995-03-29 株式会社日立製作所 固定３次元視覚併用ロボットハンドリング装置
JPH0731533B2 (ja) * 1986-09-03 1995-04-10 日産自動車株式会社 三次元座標変換装置
JPH07120211B2 (ja) * 1986-12-26 1995-12-20 トヨタ自動車株式会社 知能ロボツトにおける座標合わせ方法
JPH08382B2 (ja) * 1987-01-20 1996-01-10 愛三工業株式会社 視覚センサ付ロボツトの座標系の設定方法
JPS63254575A (ja) * 1987-04-13 1988-10-21 Fanuc Ltd 視覚センサのキヤリブレ−シヨン装置
US4831549A (en) * 1987-07-28 1989-05-16 Brigham Young University Device and method for correction of robot inaccuracy
JPH01205994A (ja) * 1988-02-08 1989-08-18 Toshiba Corp ロボット視覚認識装置
US5274714A (en) * 1990-06-04 1993-12-28 Neuristics, Inc. Method and apparatus for determining and organizing feature vectors for neural network recognition

Also Published As

Publication number Publication date
DE69223127D1 (de) 1997-12-18
US5471312A (en) 1995-11-28
JP2700965B2 (ja) 1998-01-21
EP0549805B1 (de) 1997-11-12
EP0549805A4 (en) 1994-11-02
EP0549805A1 (de) 1993-07-07
JPH058186A (ja) 1993-01-19
WO1993001029A1 (en) 1993-01-21
KR970005616B1 (ko) 1997-04-18

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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