ES2104957T3 - Metodo y dispositivo para la calibracion de ejes de movimiento de un robot industrial. - Google Patents

Metodo y dispositivo para la calibracion de ejes de movimiento de un robot industrial.

Info

Publication number
ES2104957T3
ES2104957T3 ES92924972T ES92924972T ES2104957T3 ES 2104957 T3 ES2104957 T3 ES 2104957T3 ES 92924972 T ES92924972 T ES 92924972T ES 92924972 T ES92924972 T ES 92924972T ES 2104957 T3 ES2104957 T3 ES 2104957T3
Authority
ES
Spain
Prior art keywords
robot
calibration
axis
industrial robot
read
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
ES92924972T
Other languages
English (en)
Inventor
John-Erik Snell
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.)
ABB AB
Original Assignee
Asea Brown Boveri AB
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 Asea Brown Boveri AB filed Critical Asea Brown Boveri AB
Application granted granted Critical
Publication of ES2104957T3 publication Critical patent/ES2104957T3/es
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
    • B25J9/1679—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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50026—Go to reference plane, cube

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

EN UN METODO DE CALIBRACION PARA UN ROBOT INDUSTRIAL (2-6), UNA HERRAMIENTA DE CALIBRACION (8) SOPORTADA POR EL BRAZO DEL ROBOT (6) SE PONE EN CONTACTO CON LAS SUPERFICIES LATERALES OPUESTAS PAREADAS DE UN CUERPO DE CALIBRACION (7) CON UNA LONGITUD DE EJE YA CONOCIDA. POSTERIORMENTE, LAS SEÑALES DE SALIDA DE LOS TRANSDUCTORES DE POSICION DE LOS EJES DEL ROBOT SON LEIDAS Y ALMACENADAS. EL METODO SE REPITE UNA PLURALIDAD DE VECES CON DIFERENTES CONFIGURACIONES DEL ROBOT. POSTERIORMENTE, LOS PARAMETROS DE CALIBRACION DEL ROBOT SE CALCULAN COMENZANDO A PARTIR DE LAS ECUACIONES CINEMATICAS DEL ROBOT, DE UN MODELO DE LA RELACION ENTRE LA POSICION AXIAL Y LA POSICION DE LA SEÑAL TRANSDUCTORA, DE LAS LONGITUDES CONOCIDAS DEL EJE DEL CUERPO DE CALIBRACION, Y DE LA POSICION LEIDA Y ALMACENADA DE LAS SEÑALES DEL TRANSDUCTOR DE POSICION.
ES92924972T 1991-12-10 1992-11-24 Metodo y dispositivo para la calibracion de ejes de movimiento de un robot industrial. Expired - Lifetime ES2104957T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9103642A SE501263C2 (sv) 1991-12-10 1991-12-10 Förfarande för kalibrering av rörelseaxlar hos en industrirobot

Publications (1)

Publication Number Publication Date
ES2104957T3 true ES2104957T3 (es) 1997-10-16

Family

ID=20384558

Family Applications (1)

Application Number Title Priority Date Filing Date
ES92924972T Expired - Lifetime ES2104957T3 (es) 1991-12-10 1992-11-24 Metodo y dispositivo para la calibracion de ejes de movimiento de un robot industrial.

Country Status (8)

Country Link
US (1) US5528116A (es)
EP (1) EP0616566B1 (es)
JP (1) JP3326175B2 (es)
AU (1) AU3099492A (es)
DE (1) DE69220504T2 (es)
ES (1) ES2104957T3 (es)
SE (1) SE501263C2 (es)
WO (1) WO1993011915A1 (es)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE501867C2 (sv) * 1993-11-15 1995-06-12 Asea Brown Boveri Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp
DE19507227C1 (de) * 1995-03-02 1996-07-04 Qiagen Gmbh Verfahren zum Kalibrieren des Arbeitspunktes eines automatisch in einem kartesischen Koordinatensystem bewegbaren Werkzeuges
EP0896656A4 (en) * 1995-11-14 2000-11-22 Kam C Lau MACHINE-MOUNTED BALL STICK SYSTEM AND METHOD FOR USE THEREOF
SE505981C2 (sv) * 1996-02-14 1997-10-27 Asea Brown Boveri Förfarande för styrning av en industrirobot med hänsyn till moment och belastning
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
US6052611A (en) * 1997-11-28 2000-04-18 Picker International, Inc. Frameless stereotactic tomographic scanner for image guided interventional procedures
US6070109A (en) * 1998-03-10 2000-05-30 Fanuc Robotics North America, Inc. Robot calibration system
US6202031B1 (en) * 1998-04-08 2001-03-13 Mcms, Inc. Method of calibrating an automated placement machine
US6356807B1 (en) 1999-08-13 2002-03-12 Fanuc Robotics North America, Inc. Method of determining contact positions, calibration parameters, and reference frames for robot assemblies
US6812665B2 (en) 2002-04-19 2004-11-02 Abb Ab In-process relative robot workcell calibration
KR100485348B1 (ko) * 2002-07-09 2005-04-27 삼성전자주식회사 로봇의 캘리브레이션 방법
JP2005157784A (ja) * 2003-11-26 2005-06-16 Tokyo Denki Univ 小型アーティファクトを用いた運動機構の校正方法
DE102004028568B4 (de) * 2004-06-15 2011-06-16 Gerhard Klaiber Manipulierwerkzeug
DE602005008271D1 (de) * 2004-10-25 2008-08-28 Univ Dayton Verfahren und system zum ermöglichen von erhöhter genauigkeit bei mehrfachverbundenen robotern durch berechnung der kinematischen robotermodellparameter
JP5153228B2 (ja) * 2007-06-28 2013-02-27 株式会社小坂研究所 多関節型座標測定装置のパラメータ校正方法
JP5235376B2 (ja) * 2007-10-05 2013-07-10 川崎重工業株式会社 ロボットのターゲット位置検出装置
WO2009132703A1 (en) * 2008-04-30 2009-11-05 Abb Technology Ab A method and a system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot
WO2011113490A1 (en) * 2010-03-18 2011-09-22 Abb Research Ltd. Calibration of a base coordinate system for an industrial robot
CN103987486B (zh) * 2011-12-09 2017-03-29 戴姆勒股份公司 用于运行生产设备的方法
DE102017103938A1 (de) * 2017-02-24 2018-08-30 Carl Zeiss Industrielle Messtechnik Gmbh Vorrichtung zum Messen der Rauheit einer Werkstückoberfläche
CN107718050B (zh) * 2017-11-14 2020-07-17 深圳众为兴技术股份有限公司 Scara机器人臂长与零点标定方法、装置、介质及计算机设备
CN109032072B (zh) * 2018-07-30 2021-04-27 成都飞机工业（集团）有限责任公司 一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4362977A (en) * 1980-06-30 1982-12-07 International Business Machines Corporation Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot
US4670849A (en) * 1983-03-31 1987-06-02 Hitachi, Ltd. Position error correcting method and apparatus for industrial robot
SE8304100L (sv) * 1983-07-22 1985-01-23 Ibm Svenska Ab System for automatisk kalibrering av rymdkoordinaterna hos en robotgripper i sex frihetsgrader
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
SE464855B (sv) * 1986-09-29 1991-06-24 Asea Ab Foerfarande vid en industrirobot foer kalibrering av en sensor
US4965499A (en) * 1987-12-31 1990-10-23 Westinghouse Electric Corp Parametric path modeling for an optical automatic seam tracker and real time robotic control system

Also Published As

Publication number Publication date
EP0616566B1 (en) 1997-06-18
JPH07501755A (ja) 1995-02-23
DE69220504T2 (de) 1998-02-05
DE69220504D1 (de) 1997-07-24
US5528116A (en) 1996-06-18
EP0616566A1 (en) 1994-09-28
SE9103642L (sv) 1993-06-11
SE9103642D0 (sv) 1991-12-10
SE501263C2 (sv) 1994-12-19
WO1993011915A1 (en) 1993-06-24
JP3326175B2 (ja) 2002-09-17
AU3099492A (en) 1993-07-19

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