EP2244865A4 - System und verfahren für präzise echtzeitsteuerung der position und ausrichtung von werkzeugen - Google Patents

System und verfahren für präzise echtzeitsteuerung der position und ausrichtung von werkzeugen

Info

Publication number
EP2244865A4
EP2244865A4 EP08799965.2A EP08799965A EP2244865A4 EP 2244865 A4 EP2244865 A4 EP 2244865A4 EP 08799965 A EP08799965 A EP 08799965A EP 2244865 A4 EP2244865 A4 EP 2244865A4
Authority
EP
European Patent Office
Prior art keywords
tooling
orientation
time control
precise real
precise
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.)
Withdrawn
Application number
EP08799965.2A
Other languages
English (en)
French (fr)
Other versions
EP2244865A1 (de
Inventor
Mark Joseph Pivac
Michael Barrington Wood
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.)
Fastbrick IP Pty Ltd
Original Assignee
Goldwing Nominees Pty Ltd
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
Priority claimed from AU2007904639A external-priority patent/AU2007904639A0/en
Application filed by Goldwing Nominees Pty Ltd filed Critical Goldwing Nominees Pty Ltd
Publication of EP2244865A1 publication Critical patent/EP2244865A1/de
Publication of EP2244865A4 publication Critical patent/EP2244865A4/de
Withdrawn legal-status Critical Current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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • 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
    • G05B2219/37275—Laser, interferometer
    • 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
    • G05B2219/39176—Compensation deflection arm
    • 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
    • G05B2219/40511—Trajectory optimization, coarse for arm, medium for wrist, fine for finger

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP08799965.2A 2007-08-28 2008-08-28 System und verfahren für präzise echtzeitsteuerung der position und ausrichtung von werkzeugen Withdrawn EP2244865A4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
AU2007904639A AU2007904639A0 (en) 2007-08-28 Method for precise position control of tooling mounted to flexible or moveable machines
AU2007904640A AU2007904640A0 (en) 2007-08-28 Combined laser tracker and inertial navigation system
PCT/AU2008/001274 WO2009026641A1 (en) 2007-08-28 2008-08-28 System and method for precise real-time control of position and orientation of tooling

Publications (2)

Publication Number Publication Date
EP2244865A1 EP2244865A1 (de) 2010-11-03
EP2244865A4 true EP2244865A4 (de) 2013-08-28

Family

ID=40386573

Family Applications (2)

Application Number Title Priority Date Filing Date
EP08799966.0A Withdrawn EP2249997A4 (de) 2007-08-28 2008-08-28 System und verfahren für präzise echtzeitmessung einer zielposition und ausrichtung in relation zu einer basisposition sowie steuerung dafür
EP08799965.2A Withdrawn EP2244865A4 (de) 2007-08-28 2008-08-28 System und verfahren für präzise echtzeitsteuerung der position und ausrichtung von werkzeugen

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP08799966.0A Withdrawn EP2249997A4 (de) 2007-08-28 2008-08-28 System und verfahren für präzise echtzeitmessung einer zielposition und ausrichtung in relation zu einer basisposition sowie steuerung dafür

Country Status (4)

Country Link
EP (2) EP2249997A4 (de)
AU (2) AU2008291701A1 (de)
CA (2) CA2732312A1 (de)
WO (2) WO2009026641A1 (de)

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US8965571B2 (en) 2010-08-12 2015-02-24 Construction Robotics, Llc Brick laying system
DE102011011286A1 (de) * 2011-02-15 2012-08-16 Rheinisch-Westfälische Technische Hochschule Aachen Verfahren und System zur Korrektur der Position eines durch eine Steuerung bewegten Objektes
DE102012014312A1 (de) * 2012-07-19 2014-05-15 Kuka Roboter Gmbh Robotergeführte Messanordnung
EP2824420B1 (de) * 2013-07-08 2019-03-06 Hexagon Technology Center GmbH Lagebestimmungseinrichtung mit einer inertialen Messeinheit
CA2899291C (en) 2014-07-31 2018-03-13 Usnr/Kockums Cancar Company Dynamically directed workpiece positioning system
US9557157B2 (en) 2014-12-01 2017-01-31 Steven Eugene Ihlenfeldt Inertial dimensional metrology
US9812486B2 (en) 2014-12-22 2017-11-07 Google Inc. Time-of-flight image sensor and light source driver having simulated distance capability
US9757859B1 (en) 2016-01-21 2017-09-12 X Development Llc Tooltip stabilization
US9744665B1 (en) 2016-01-27 2017-08-29 X Development Llc Optimization of observer robot locations
US10059003B1 (en) 2016-01-28 2018-08-28 X Development Llc Multi-resolution localization system
AU2017294796B2 (en) 2016-07-15 2019-05-30 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
AU2017294795B2 (en) 2016-07-15 2019-06-13 Fastbrick Ip Pty Ltd Boom for material transport
CN108268056B (zh) * 2016-12-30 2020-12-15 昊翔电能运动科技(昆山)有限公司 手持云台校准方法、装置和系统
CN107255442B (zh) * 2017-06-06 2019-07-19 中国葛洲坝集团勘测设计有限公司 基于激光跟踪技术的大尺寸水轮发电机定子安装测量方法
EP3649616A4 (de) 2017-07-05 2021-04-07 Fastbrick IP Pty Ltd Positions- und orientierungsverfolger in echtzeit
CN111226090B (zh) 2017-08-17 2023-05-23 快砖知识产权私人有限公司 具有改进的横滚角测量的激光跟踪器
CN111246976B (zh) * 2017-08-17 2024-03-15 快砖知识产权私人有限公司 交互系统配置
WO2019071313A1 (en) 2017-10-11 2019-04-18 Fastbrick Ip Pty Ltd MACHINE FOR CARRYING OBJECTS AND CARROUSEL WITH SEVERAL COMPARTMENTS FOR USE WITH THE SAME
EP3724597A4 (de) * 2017-12-17 2021-10-06 AP Robotics, LLC Mehrdimensionales messsystem zur genauen berechnung der position und ausrichtung eines dynamischen objekts
EP3823797A4 (de) 2018-07-16 2022-04-06 Fastbrick IP Pty Ltd Sicherungsverfolgung für ein interaktionssystem
AU2019304101A1 (en) 2018-07-16 2021-02-04 Fastbrick Ip Pty Ltd Active damping system
JP7161753B2 (ja) * 2018-10-24 2022-10-27 国立大学法人広島大学 ロボットの運動精度測定方法及び位置補正方法
WO2020097685A1 (en) * 2018-11-14 2020-05-22 Fastbrick Ip Pty Ltd Position and orientation tracking system
RU2718025C1 (ru) * 2019-07-04 2020-03-30 федеральное государственное автономное образовательное учреждение высшего образования "Южно-Уральский государственный университет (национальный исследовательский университет)" Робот манипуляционный промышленный
CN114260577B (zh) * 2021-12-03 2024-01-05 重庆海尔制冷电器有限公司 冰箱激光打码系统及其控制方法

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WO2005014240A1 (en) * 2003-08-11 2005-02-17 Mindready, Solutions Inc. Micro-assembly and test station applied for the chip and bar tester application
US20050060092A1 (en) * 2003-08-05 2005-03-17 The Boeing Company Laser range finder closed-loop pointing technology of relative navigation, attitude determination, pointing and tracking for spacecraft rendezvous
US7230689B2 (en) * 2002-08-26 2007-06-12 Lau Kam C Multi-dimensional measuring system
WO2007076581A1 (en) * 2005-12-30 2007-07-12 Goldwing Nominees Pty Ltd An automated brick laying system for constructing a building from a plurality of bricks

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US4952772A (en) * 1988-11-16 1990-08-28 Westinghouse Electric Corp. Automatic seam tracker and real time error cumulative control system for an industrial robot
GB2238970B (en) * 1989-11-30 1992-12-23 Furmanite Australia Machining apparatus
AU645640B2 (en) * 1990-12-20 1994-01-20 Self Levelling Machines Pty. Ltd. Machining apparatus
JP2769947B2 (ja) * 1992-05-15 1998-06-25 株式会社椿本チエイン マニピュレータの位置・姿勢制御方法
US5557397A (en) * 1994-09-21 1996-09-17 Airborne Remote Mapping, Inc. Aircraft-based topographical data collection and processing system
SE0001312D0 (sv) * 2000-04-10 2000-04-10 Abb Ab Industrirobot
US6427122B1 (en) * 2000-12-23 2002-07-30 American Gnc Corporation Positioning and data integrating method and system thereof
US6859729B2 (en) * 2002-10-21 2005-02-22 Bae Systems Integrated Defense Solutions Inc. Navigation of remote controlled vehicles
US20050007450A1 (en) * 2002-12-13 2005-01-13 Duane Hill Vehicle mounted system and method for capturing and processing physical data
DE102006030130B3 (de) * 2006-06-28 2007-09-27 Scansonic Gmbh Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks mittels eines Energiestrahls, insbesondere Laserstrahls

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
US7230689B2 (en) * 2002-08-26 2007-06-12 Lau Kam C Multi-dimensional measuring system
US20050060092A1 (en) * 2003-08-05 2005-03-17 The Boeing Company Laser range finder closed-loop pointing technology of relative navigation, attitude determination, pointing and tracking for spacecraft rendezvous
WO2005014240A1 (en) * 2003-08-11 2005-02-17 Mindready, Solutions Inc. Micro-assembly and test station applied for the chip and bar tester application
WO2007076581A1 (en) * 2005-12-30 2007-07-12 Goldwing Nominees Pty Ltd An automated brick laying system for constructing a building from a plurality of bricks

Non-Patent Citations (1)

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Title
See also references of WO2009026641A1 *

Also Published As

Publication number Publication date
WO2009026641A1 (en) 2009-03-05
EP2244865A1 (de) 2010-11-03
CA2732310A1 (en) 2009-03-05
EP2249997A1 (de) 2010-11-17
EP2249997A4 (de) 2013-08-28
WO2009026642A1 (en) 2009-03-05
CA2732312A1 (en) 2009-03-05
AU2008291702A1 (en) 2009-03-05
AU2008291701A1 (en) 2009-03-05

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