DE69637413D1 - Kompositdetektionssystem für roboter - Google Patents

Kompositdetektionssystem für roboter

Info

Publication number
DE69637413D1
DE69637413D1 DE69637413T DE69637413T DE69637413D1 DE 69637413 D1 DE69637413 D1 DE 69637413D1 DE 69637413 T DE69637413 T DE 69637413T DE 69637413 T DE69637413 T DE 69637413T DE 69637413 D1 DE69637413 D1 DE 69637413D1
Authority
DE
Germany
Prior art keywords
robots
detection system
composite detection
composite
detection
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
DE69637413T
Other languages
English (en)
Other versions
DE69637413T2 (de
Inventor
Takashi Jyumonji
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 DE69637413D1 publication Critical patent/DE69637413D1/de
Publication of DE69637413T2 publication Critical patent/DE69637413T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B2219/36427—Jog feed to a command position, if close enough robot takes over positioning
    • 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
    • G05B2219/39391—Visual servoing, track end effector with camera image feedback
    • 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
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
    • 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
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
    • 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
    • G05B2219/45123—Electrogoniometer, neuronavigator, medical robot used by surgeon to operate

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
DE69637413T 1995-12-27 1996-12-24 Kompositdetektionssystem für roboter Expired - Lifetime DE69637413T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP35118095 1995-12-27
JP35118095 1995-12-27
PCT/JP1996/003765 WO1997024206A1 (fr) 1995-12-27 1996-12-24 Systeme robotique composite de detection

Publications (2)

Publication Number Publication Date
DE69637413D1 true DE69637413D1 (de) 2008-03-13
DE69637413T2 DE69637413T2 (de) 2009-01-22

Family

ID=18415599

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69637413T Expired - Lifetime DE69637413T2 (de) 1995-12-27 1996-12-24 Kompositdetektionssystem für roboter

Country Status (5)

Country Link
US (1) US5987591A (de)
EP (1) EP0812662B1 (de)
JP (1) JP3904605B2 (de)
DE (1) DE69637413T2 (de)
WO (1) WO1997024206A1 (de)

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WO2003033219A2 (de) * 2001-10-15 2003-04-24 Hermann Tropf Korrektur der relativbewegung zwischen greif- oder bearbeitungswerkzeugen und werkstücken
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US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
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US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
JP2009000782A (ja) * 2007-06-21 2009-01-08 Idec Corp ロボット制御システムおよびロボットハンド
JP2009218933A (ja) * 2008-03-11 2009-09-24 Seiko Epson Corp スマートカメラ及びロボットビジョンシステム
WO2009119510A1 (ja) 2008-03-28 2009-10-01 本田技研工業株式会社 ワーク測定方法、サスペンションアッセンブリ取り付け方法、およびサスペンションアッセンブリ取り付け装置
DE102008023264B4 (de) * 2008-05-13 2017-01-05 Smart Optics Sensortechnik Gmbh Verfahren zur flexiblen Erfassung der geometrischen Form von Objekten mit optischer 3D-Messtechnik
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JP4938115B2 (ja) * 2010-07-27 2012-05-23 ファナック株式会社 ワーク取出し装置およびワーク取出し方法
CN102909728B (zh) * 2011-08-05 2015-11-25 鸿富锦精密工业（深圳）有限公司 机器人工具中心点的视觉校正方法
JP6052871B2 (ja) * 2012-11-30 2016-12-27 国立大学法人横浜国立大学 対象物移動装置、方法、プログラム、及び記録媒体
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CN103213136B (zh) * 2013-03-22 2016-06-15 南通航运职业技术学院 一种用于工业机器人牵引示教的方法和系统
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Also Published As

Publication number Publication date
WO1997024206A1 (fr) 1997-07-10
EP0812662B1 (de) 2008-01-23
EP0812662A4 (de) 2000-11-15
DE69637413T2 (de) 2009-01-22
US5987591A (en) 1999-11-16
JP3904605B2 (ja) 2007-04-11
EP0812662A1 (de) 1997-12-17

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