DE69603066D1 - Vorrichtung und verfahren zum korrigieren der fortbewegungsroute eines roboters - Google Patents

Vorrichtung und verfahren zum korrigieren der fortbewegungsroute eines roboters

Info

Publication number
DE69603066D1
DE69603066D1 DE69603066T DE69603066T DE69603066D1 DE 69603066 D1 DE69603066 D1 DE 69603066D1 DE 69603066 T DE69603066 T DE 69603066T DE 69603066 T DE69603066 T DE 69603066T DE 69603066 D1 DE69603066 D1 DE 69603066D1
Authority
DE
Germany
Prior art keywords
robot
correcting
progression route
progression
route
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
DE69603066T
Other languages
English (en)
Other versions
DE69603066T2 (de
Inventor
Taro Arimatsu
Kazuhiko Akiyama
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 DE69603066D1 publication Critical patent/DE69603066D1/de
Application granted granted Critical
Publication of DE69603066T2 publication Critical patent/DE69603066T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • 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
    • G05B19/404—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 compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • 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
    • G05B19/4083—Adapting programme, configuration
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36416—Adapt teached position as function of deviation 3-D, 2-D position of end effector, tool
    • 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
    • G05B2219/37567—3-D vision, stereo vision, with two cameras
    • 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
    • G05B2219/40589—Recognize shape, contour of tool
    • 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
    • G05B2219/40611—Camera to monitor endpoint, end effector position
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
DE69603066T 1995-09-06 1996-09-06 Vorrichtung und verfahren zum korrigieren der fortbewegungsroute eines roboters Expired - Lifetime DE69603066T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7228716A JPH0970780A (ja) 1995-09-06 1995-09-06 ロボットのツール形状補正方式
PCT/JP1996/002548 WO1997009154A1 (fr) 1995-09-06 1996-09-06 Appareil et procede de correction de l'itineraire de deplacement d'un robot

Publications (2)

Publication Number Publication Date
DE69603066D1 true DE69603066D1 (de) 1999-08-05
DE69603066T2 DE69603066T2 (de) 1999-10-21

Family

ID=16880701

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69603066T Expired - Lifetime DE69603066T2 (de) 1995-09-06 1996-09-06 Vorrichtung und verfahren zum korrigieren der fortbewegungsroute eines roboters

Country Status (5)

Country Link
US (1) US6414711B2 (de)
EP (1) EP0796704B1 (de)
JP (1) JPH0970780A (de)
DE (1) DE69603066T2 (de)
WO (1) WO1997009154A1 (de)

Families Citing this family (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19826395A1 (de) * 1998-06-12 1999-12-23 Amatec Gmbh Verfahren zum Erfassen und Kompensieren von kinematischen Veränderungen eines Roboters
US7420588B2 (en) * 1999-06-09 2008-09-02 Mitutoyo Corporation Measuring method, measuring system and storage medium
JP3556589B2 (ja) * 2000-09-20 2004-08-18 ファナック株式会社 位置姿勢認識装置
US6738507B2 (en) * 2001-01-09 2004-05-18 Ford Global Technologies, Llc Apparatus and method for correlating part design geometry, manufacturing tool geometry, and manufactured part geometry
DE10164944B4 (de) * 2001-10-15 2013-03-28 Hermann, Dr.-Ing. Tropf Vorrichtung und Verfahren zur Korrektur der Bewegung von Greif- und Bearbeitungswerkzeugen
US8010180B2 (en) 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
JP2004174662A (ja) * 2002-11-27 2004-06-24 Fanuc Ltd ロボットの動作状態解析装置
DE10351669B4 (de) * 2003-11-05 2012-09-13 Kuka Laboratories Gmbh Verfahren und Vorrichtung zum Steuern eines Handhabungsgeräts relativ zu einem Objekt
DE102004026185A1 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
US8000837B2 (en) 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
CN1319704C (zh) * 2004-10-21 2007-06-06 上海交通大学 焊接机器人伺服双目视觉传感器
JP4087841B2 (ja) * 2004-12-21 2008-05-21 ファナック株式会社 ロボット制御装置
DE102005047489A1 (de) * 2005-10-04 2007-04-05 Ford Global Technologies, LLC, Dearborn Verfahren und System zur Programmierung von Arbeits- und Bewegungsabläufen von Robotern
JP5665333B2 (ja) * 2010-03-10 2015-02-04 キヤノン株式会社 情報処理装置および情報処理装置の制御方法
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
JP2012223839A (ja) * 2011-04-15 2012-11-15 Yaskawa Electric Corp ロボットシステムおよびロボットシステムの駆動方法
JP5561260B2 (ja) * 2011-09-15 2014-07-30 株式会社安川電機 ロボットシステム及び撮像方法
JP5975685B2 (ja) 2012-03-09 2016-08-23 キヤノン株式会社 情報処理装置、情報処理方法
JP5977544B2 (ja) 2012-03-09 2016-08-24 キヤノン株式会社 情報処理装置、情報処理方法
JP6000579B2 (ja) * 2012-03-09 2016-09-28 キヤノン株式会社 情報処理装置、情報処理方法
US9820818B2 (en) 2012-08-03 2017-11-21 Stryker Corporation System and method for controlling a surgical manipulator based on implant parameters
KR20240093729A (ko) 2012-08-03 2024-06-24 스트리커 코포레이션 로봇 수술을 위한 시스템 및 방법
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
JP6461082B2 (ja) 2013-03-13 2019-01-30 ストライカー・コーポレイション 外科手術システム
AU2014240998B2 (en) 2013-03-13 2018-09-20 Stryker Corporation System for arranging objects in an operating room in preparation for surgical procedures
DE102013215430B4 (de) * 2013-08-06 2016-07-14 Lufthansa Technik Ag Bearbeitungseinrichtung
JP2015226963A (ja) * 2014-06-02 2015-12-17 セイコーエプソン株式会社 ロボット、ロボットシステム、制御装置、及び制御方法
JP6459227B2 (ja) 2014-06-02 2019-01-30 セイコーエプソン株式会社 ロボットシステム
EP3194102A1 (de) * 2014-09-17 2017-07-26 Nuovo Pignone S.r.l. Geometrische kontrolle und passgenauigkeit von elektroerosionswerkzeugen
WO2016103292A1 (ja) * 2014-12-22 2016-06-30 川崎重工業株式会社 ロボットシステム及びエンドエフェクタの変形検出方法
US10016892B2 (en) * 2015-07-23 2018-07-10 X Development Llc System and method for determining tool offsets
EP3397188B1 (de) 2015-12-31 2020-09-09 Stryker Corporation System und verfahren zur vorbereitung eines chirurgischen eingriffs an einem patienten an einer durch ein virtuelles objekt definierten zielstelle
JP6430986B2 (ja) * 2016-03-25 2018-11-28 ファナック株式会社 ロボットを用いた位置決め装置
JP6434943B2 (ja) * 2016-09-20 2018-12-05 本田技研工業株式会社 組立装置
JP6718352B2 (ja) * 2016-09-28 2020-07-08 川崎重工業株式会社 基板搬送ハンドの診断システム
US11202682B2 (en) 2016-12-16 2021-12-21 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
JP6499716B2 (ja) * 2017-05-26 2019-04-10 ファナック株式会社 形状認識装置、形状認識方法及びプログラム
AU2018346698A1 (en) * 2017-10-06 2020-04-23 Advanced Solutions Life Sciences, Llc End effector calibration assemblies, systems, and methods
JP7441707B2 (ja) 2020-03-31 2024-03-01 株式会社ユーシン精機 アタッチメントの三次元形状寸法測定方法
CN114653558B (zh) * 2022-05-25 2022-08-02 苏州柳溪机电工程有限公司 用于涂装流水线的吹水系统

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5773410A (en) 1980-10-23 1982-05-08 Fanuc Ltd Numerical control system
US4613942A (en) * 1982-02-19 1986-09-23 Chen Richard M Orientation and control system for robots
JPS59180605A (ja) * 1983-03-31 1984-10-13 Hitachi Ltd ロボツトの作業デ−タ変換装置
JPS60193013A (ja) * 1984-03-15 1985-10-01 Hitachi Ltd 視覚センサを備えたロボツトの制御装置
JPS6126106A (ja) 1984-07-16 1986-02-05 Fanuc Ltd 工具位置補正方式
JPS61173878A (ja) * 1985-01-30 1986-08-05 株式会社日立製作所 ロボツトの個体差対応テイ−チデ−タ修正方式
DE3578241D1 (de) * 1985-06-19 1990-07-19 Ibm Verfahren zum identifizieren dreidimensionaler objekte mittels zweidimensionaler bilder.
JPH0679325B2 (ja) * 1985-10-11 1994-10-05 株式会社日立製作所 位置姿勢判定方法
US4675502A (en) * 1985-12-23 1987-06-23 General Electric Company Real time tracking control for taught path robots
US5579444A (en) * 1987-08-28 1996-11-26 Axiom Bildverarbeitungssysteme Gmbh Adaptive vision-based controller
DE3903133A1 (de) * 1988-02-04 1989-08-31 Amada Co Werkstueckbearbeitbarkeitsdetektionsverfahren und verfahren zum spanabhebenden bearbeiten eines werkstuecks mit hilfe einer spanabhebenden bearbeitungsmaschine unter anwendung dieses verfahrens
JPH0213804A (ja) * 1988-07-01 1990-01-18 Fanuc Ltd 視覚センサにおけるノミナル設定方式
US4985846A (en) * 1989-05-11 1991-01-15 Fallon Patrick J Acoustical/optical bin picking system
JPH0736989B2 (ja) * 1990-01-19 1995-04-26 トキコ株式会社 工業用ロボットの制御方法
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5255199A (en) 1990-12-14 1993-10-19 Martin Marietta Energy Systems, Inc. Cutting tool form compensaton system and method
JP2663726B2 (ja) * 1991-01-08 1997-10-15 株式会社デンソー 複層状態検査装置
JP2779072B2 (ja) * 1991-01-28 1998-07-23 ファナック株式会社 ロボットの教示方法
JPH04269607A (ja) * 1991-02-25 1992-09-25 Mitsui Eng & Shipbuild Co Ltd 物体の寸法計測装置
US5319443A (en) * 1991-03-07 1994-06-07 Fanuc Ltd Detected position correcting method
JPH04343178A (ja) * 1991-05-20 1992-11-30 Sony Corp 画像処理装置
DE4120746A1 (de) 1991-06-24 1993-01-14 Guenter Heilig Automatische werkzeugvermessung
US5380978A (en) * 1991-07-12 1995-01-10 Pryor; Timothy R. Method and apparatus for assembly of car bodies and other 3-dimensional objects
US5577130A (en) * 1991-08-05 1996-11-19 Philips Electronics North America Method and apparatus for determining the distance between an image and an object
JP3230826B2 (ja) * 1991-10-16 2001-11-19 ファナック株式会社 スポット溶接ガンの位置補正方法及びロボット溶接装置
JPH06143166A (ja) * 1992-11-06 1994-05-24 Meidensha Corp 多関節ロボットの位置ずれ補正方法
JPH0755427A (ja) * 1993-08-12 1995-03-03 Nec Corp リード位置検出装置
JP3665353B2 (ja) 1993-09-14 2005-06-29 ファナック株式会社 ロボットの教示位置データの３次元位置補正量取得方法及びロボットシステム
US5572102A (en) * 1995-02-28 1996-11-05 Budd Canada Inc. Method and apparatus for vision control of welding robots
DE69637413T2 (de) * 1995-12-27 2009-01-22 Fanuc Ltd. Kompositdetektionssystem für roboter
US5959425A (en) * 1998-10-15 1999-09-28 Fanuc Robotics North America, Inc. Vision guided automatic robotic path teaching method

Also Published As

Publication number Publication date
US6414711B2 (en) 2002-07-02
US20010010539A1 (en) 2001-08-02
WO1997009154A1 (fr) 1997-03-13
EP0796704A4 (de) 1997-10-15
JPH0970780A (ja) 1997-03-18
EP0796704A1 (de) 1997-09-24
EP0796704B1 (de) 1999-06-30
DE69603066T2 (de) 1999-10-21

Similar Documents

Publication Publication Date Title
DE69603066D1 (de) Vorrichtung und verfahren zum korrigieren der fortbewegungsroute eines roboters
DE69601567D1 (de) Vorrichtung und verfahren zum steuern der bewegung eines roboters
DE69601622D1 (de) Vorrichtung und verfahren zum eichen eines mehrgelenkroboters
DE69616002D1 (de) Verfahren und Gerät zum Berechnen einer Route
DE69522694D1 (de) Verfahren und vorrichtung zum plasmaspritzen
DE69608345D1 (de) Verfahren und Vorrichtung zum Steuern einer Radaufhängung
DE59303989D1 (de) Verfahren und vorrichtung zum beloten eines metallischen wabenkörpers
DE69602745D1 (de) Verfahren und einrichtung zum eichen der bewegungen eines industrieroboters
DE59508637D1 (de) Verfahren und Vorrichtung zum Stapeln
DE69622506D1 (de) Verfahren und Vorrichtung zum Navigationsbohren
DE69411130D1 (de) Verfahren und Vorrichtung zum Eichen der Bewegungsachsen eines Industrierobotors
DE19681744T1 (de) Verfahren und Vorrichtung zum Charakterisieren einer Oberfläche
DE59403324D1 (de) Vorrichtung und verfahren zum überwachen eines tauchganges
DE69629279D1 (de) Verfahren und vorrichtung zum gravieren
DE69728497D1 (de) Verfahren und Vorrichtung zum Bestimmen der Position eines sich bewegenden Objektes
DE69323966D1 (de) Verfahren zur Ausführung eines Kopierverfahrens und Vorrichtung zur Durchführung des Verfahrens
DE69524347D1 (de) Vorrichtung und Verfahren zum Wegmessung
DE68923713D1 (de) Verfahren und Vorrichtung zum provisorischen Verschweissen eines Deckels.
DE69619909D1 (de) Verfahren und vorrichtung zum bearbeiten eines mechanischen werkstücks
DE59601324D1 (de) Verfahren und Vorrichtung zum Depalettieren
DE69607003D1 (de) Verfahren und vorrichtung zum steuern eines beweglichen geräts
DE69818134D1 (de) Verfahren und Vorrichtung zum Schweissen eines Werkstücks
DE69306649D1 (de) Vorrichtung und Verfahren zum Reinigen eines Beförderers
DE69229920D1 (de) Verfahren und Vorrichtung zum Abfasen eines Wafereinschnitts
DE69412447D1 (de) Verfahren und Vorrichtung zum Biegen von Rohren

Legal Events

Date Code Title Description
8364 No opposition during term of opposition