EP2249997A4 - System und verfahren für präzise echtzeitmessung einer zielposition und ausrichtung in relation zu einer basisposition sowie steuerung dafür - Google Patents
System und verfahren für präzise echtzeitmessung einer zielposition und ausrichtung in relation zu einer basisposition sowie steuerung dafürInfo
- Publication number
- EP2249997A4 EP2249997A4 EP08799966.0A EP08799966A EP2249997A4 EP 2249997 A4 EP2249997 A4 EP 2249997A4 EP 08799966 A EP08799966 A EP 08799966A EP 2249997 A4 EP2249997 A4 EP 2249997A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- control
- time measurement
- orientation relative
- target position
- precise real
- 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- Withdrawn
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
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/AU2008/001275 WO2009026642A1 (en) | 2007-08-28 | 2008-08-28 | System and method for precise real-time measurement of a target position and orientation relative to a base position, and control thereof |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2249997A1 EP2249997A1 (de) | 2010-11-17 |
EP2249997A4 true EP2249997A4 (de) | 2013-08-28 |
Family
ID=40386573
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08799965.2A Withdrawn EP2244865A4 (de) | 2007-08-28 | 2008-08-28 | System und verfahren für präzise echtzeitsteuerung der position und ausrichtung von werkzeugen |
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 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08799965.2A Withdrawn EP2244865A4 (de) | 2007-08-28 | 2008-08-28 | System und verfahren für präzise echtzeitsteuerung der position und ausrichtung von werkzeugen |
Country Status (4)
Country | Link |
---|---|
EP (2) | EP2244865A4 (de) |
AU (2) | AU2008291701A1 (de) |
CA (2) | CA2732310A1 (de) |
WO (2) | WO2009026641A1 (de) |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
EP3174666B1 (de) | 2014-07-31 | 2021-07-07 | Usnr, Llc | System zur dynamisch gerichteten werkstückpositionierung |
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 |
AU2018295572B2 (en) | 2017-07-05 | 2022-09-29 | Fastbrick Ip Pty Ltd | Real time position and orientation tracker |
EP3669138B1 (de) | 2017-08-17 | 2023-05-24 | Fastbrick IP Pty Ltd | Lasertracker mit verbesserter wankwinkelmessung |
CN111213098B (zh) | 2017-08-17 | 2024-03-15 | 快砖知识产权私人有限公司 | 用于交互系统的通信系统 |
US11401115B2 (en) | 2017-10-11 | 2022-08-02 | Fastbrick Ip Pty Ltd | Machine for conveying objects and multi-bay carousel for use therewith |
WO2019118969A1 (en) * | 2017-12-17 | 2019-06-20 | Ap Robotics, Llc | Multi-dimensional measurement system for precise calculation of position and orientation of a dynamic object |
US20210291362A1 (en) | 2018-07-16 | 2021-09-23 | Fastbrick Ip Pty Ltd | Active damping system |
CN112703092A (zh) | 2018-07-16 | 2021-04-23 | 快砖知识产权私人有限公司 | 交互系统的备份跟踪 |
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 |
EP3881153B1 (de) * | 2018-11-14 | 2023-11-29 | Fastbrick IP Pty Ltd | Positions- und ausrichtungsverfolgungssystem |
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 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
JPH03228511A (ja) * | 1989-11-30 | 1991-10-09 | Furmanite Australia Pty Ltd | 機械加工装置 |
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 |
WO2005014240A1 (en) * | 2003-08-11 | 2005-02-17 | Mindready, Solutions Inc. | Micro-assembly and test station applied for the chip and bar tester application |
DE102006030130B3 (de) * | 2006-06-28 | 2007-09-27 | Scansonic Gmbh | Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks mittels eines Energiestrahls, insbesondere Laserstrahls |
-
2008
- 2008-08-28 EP EP08799965.2A patent/EP2244865A4/de not_active Withdrawn
- 2008-08-28 CA CA2732310A patent/CA2732310A1/en not_active Abandoned
- 2008-08-28 CA CA2732312A patent/CA2732312A1/en not_active Abandoned
- 2008-08-28 AU AU2008291701A patent/AU2008291701A1/en not_active Abandoned
- 2008-08-28 WO PCT/AU2008/001274 patent/WO2009026641A1/en active Application Filing
- 2008-08-28 EP EP08799966.0A patent/EP2249997A4/de not_active Withdrawn
- 2008-08-28 WO PCT/AU2008/001275 patent/WO2009026642A1/en active Application Filing
- 2008-08-28 AU AU2008291702A patent/AU2008291702A1/en not_active Abandoned
Patent Citations (3)
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 |
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)
Title |
---|
See also references of WO2009026642A1 * |
Also Published As
Publication number | Publication date |
---|---|
EP2244865A4 (de) | 2013-08-28 |
CA2732312A1 (en) | 2009-03-05 |
CA2732310A1 (en) | 2009-03-05 |
WO2009026641A1 (en) | 2009-03-05 |
WO2009026642A1 (en) | 2009-03-05 |
EP2249997A1 (de) | 2010-11-17 |
AU2008291701A1 (en) | 2009-03-05 |
EP2244865A1 (de) | 2010-11-03 |
AU2008291702A1 (en) | 2009-03-05 |
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Legal Events
Date | Code | Title | Description |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
Effective date: 20100811 |
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AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR |
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AX | Request for extension of the european patent |
Extension state: AL BA MK RS |
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DAX | Request for extension of the european patent (deleted) | ||
A4 | Supplementary search report drawn up and despatched |
Effective date: 20130729 |
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RIC1 | Information provided on ipc code assigned before grant |
Ipc: B25J 9/10 20060101AFI20130723BHEP Ipc: B23Q 15/22 20060101ALI20130723BHEP Ipc: B23Q 15/20 20060101ALI20130723BHEP Ipc: G05D 3/12 20060101ALI20130723BHEP Ipc: B25J 9/16 20060101ALI20130723BHEP Ipc: B23Q 16/12 20060101ALI20130723BHEP |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20140227 |