ES2136398T3 - 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
ES2136398T3
ES2136398T3 ES96909424T ES96909424T ES2136398T3 ES 2136398 T3 ES2136398 T3 ES 2136398T3 ES 96909424 T ES96909424 T ES 96909424T ES 96909424 T ES96909424 T ES 96909424T ES 2136398 T3 ES2136398 T3 ES 2136398T3
Authority
ES
Spain
Prior art keywords
calibration
robot
interruption
industrial robot
movement
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
ES96909424T
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 ES2136398T3 publication Critical patent/ES2136398T3/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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39025—Spheric tool interrupts transmitted calibration beam, in different configurations

Landscapes

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

Abstract

UN METODO PARA LA CALIBRACION DE UN ROBOT INDUSTRIAL (2-6). SE DISPONE DE UN DISPOSITIVO DE CALIBRACION COMPUESTO POR UN MEDIO (11) EMISOR DE UN HAZ DE CALIBRACION (12) DENTRO DEL RANGO DE TRABAJO DEL ROBOT, Y DE UN DETECTOR DE INTERRUPCION (13), EL CUAL DETECTA UNA INTERRUPCION EN EL HAZ DE CALIBRACION. DURANTE EL PROCESO DE CALIBRACION, SE MUEVE HACIA EL HAZ DE CALIBRACION A UNA HERRAMIENTA DE CALIBRACION SOSTENIDA POR LA MANO DEL ROBOT (6) Y QUE ESTA COMPUESTA POR UNA ESFERA (7B) CON UN RADIO CONOCIDO (R). CUANDO SE DETECTA UNA INTERRUPCION EN EL HAZ DE CALIBRACION, SE LEEN Y SE ALMACENAN LAS SEÑALES DE SALIDA PROCEDENTES DE LOS TRANSDUCTORES DE POSICION DE LOS EJES DEL ROBOT. ESTE PROCESO SE REPITE UNA PLURALIDAD DE VECES CON LAS DIFERENTES CONFIGURACIONES DEL ROBOT. POR TANTO, LOS PARAMETROS DE CALIBRACION DEL ROBOT SE CALCULAN BASANDOSE EN LAS ECUACIONES CINEMATICAS DEL ROBOT, EN LAS SEÑALES DEL TRANSDUCTOR DE POSICION LEIDAS Y ALMACENADAS, Y EN EL RADIO CONOCIDO.
ES96909424T 1995-03-30 1996-03-26 Metodo y dispositivo para la calibracion de ejes de movimiento de un robot industrial. Expired - Lifetime ES2136398T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9501137A SE508161C2 (sv) 1995-03-30 1995-03-30 Förfarande och anordning för kalibrering av rörelseaxlar hos en industrirobot

Publications (1)

Publication Number Publication Date
ES2136398T3 true ES2136398T3 (es) 1999-11-16

Family

ID=20397737

Family Applications (1)

Application Number Title Priority Date Filing Date
ES96909424T Expired - Lifetime ES2136398T3 (es) 1995-03-30 1996-03-26 Metodo y dispositivo para la calibracion de ejes de movimiento de un robot industrial.

Country Status (7)

Country Link
US (1) US5907229A (es)
EP (1) EP0824393B1 (es)
JP (1) JPH11502776A (es)
DE (1) DE69602745T2 (es)
ES (1) ES2136398T3 (es)
SE (1) SE508161C2 (es)
WO (1) WO1996030171A1 (es)

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WO1999010136A1 (en) * 1997-08-28 1999-03-04 Proteus Corporation Laser calibration of robotics systems
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US6489741B1 (en) * 1998-08-25 2002-12-03 Genmark Automation, Inc. Robot motion compensation system
DE19854011A1 (de) * 1998-11-12 2000-05-25 Knoll Alois Einrichtung und Verfahren zum Vermessen von Mechanismen und ihrer Stellung
SE9804450D0 (sv) * 1998-12-17 1998-12-17 Robotkonsult Ab Metod och anordningar för automatisk in-line kalibrering av robot, verktyg och cell
US6519860B1 (en) * 2000-10-19 2003-02-18 Sandia Corporation Position feedback control system
DE10153049B4 (de) * 2001-10-26 2007-03-08 Wiest Ag 3D-Koordinationssystem
WO2003059580A2 (de) * 2002-01-15 2003-07-24 Thomas Pagel Einmessvorrichtung und verfahren zum einmessen eines arbeitspunktes von werkzeugen für industrieroboter
KR100485348B1 (ko) * 2002-07-09 2005-04-27 삼성전자주식회사 로봇의 캘리브레이션 방법
JP2005536878A (ja) * 2002-08-22 2005-12-02 インテグレイテッド ダイナミックス エンジニアリング インコーポレーテッド 基板処理システム
US7411576B2 (en) 2003-10-30 2008-08-12 Sensable Technologies, Inc. Force reflecting haptic interface
DE102004010312B8 (de) * 2004-03-03 2009-07-30 Advintec Gmbh Verfahren zum Einmessen eines Arbeitspunktes
JP3752251B2 (ja) * 2004-07-01 2006-03-08 シャープ株式会社 自走式移動車
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
US20080252248A1 (en) * 2005-01-26 2008-10-16 Abb Ab Device and Method for Calibrating the Center Point of a Tool Mounted on a Robot by Means of a Camera
DE102007023585B4 (de) 2007-05-16 2009-08-20 Esab Cutting Systems Gmbh Einrichtung und Verfahren zum Einmessen von Schwenkaggregaten, insbesondere an Schneidmaschinen
US7623230B2 (en) * 2007-10-23 2009-11-24 Nokia Corporation Optical sensor calibration
US20100256811A1 (en) * 2007-12-27 2010-10-07 Yoshinori Fujii Diagnosis system for transport robot
FR2928289B1 (fr) * 2008-03-05 2010-05-07 Peugeot Citroen Automobiles Sa Procede de controle de la geometrie d'une machine a commande numerique pour l'usinage 5 axes.
FR2928387B1 (fr) * 2008-03-10 2012-11-16 Westline Procede et systeme de calibration automatique des engins de terrassement
US8509949B2 (en) * 2008-03-21 2013-08-13 Variation Reduction Solutions, Inc. External system for robotic accuracy enhancement
CN102087096B (zh) * 2010-11-12 2012-07-25 浙江大学 一种基于激光跟踪测量的机器人工具坐标系自动标定装置及方法
DE102014215321A1 (de) * 2014-08-04 2016-02-04 Bayerische Motoren Werke Aktiengesellschaft Robotersystem und Verfahren zum Kalibrieren von Achsen eines Roboters
CN104608129B (zh) * 2014-11-28 2016-06-08 江南大学 基于平面约束的机器人标定方法
CN104833324A (zh) * 2015-01-28 2015-08-12 江南大学 一种基于测量头的机器人标定方法
US10547796B2 (en) 2015-07-14 2020-01-28 Industrial Technology Research Institute Calibration equipment and calibration method of a mechanical system
US10065319B2 (en) * 2015-11-30 2018-09-04 Delta Electronics, Inc. Tool calibration apparatus of robot manipulator
TWI589414B (zh) * 2015-11-30 2017-07-01 台達電子工業股份有限公司 機械手臂之工具校正裝置
DE102017004433B4 (de) * 2017-05-08 2019-03-14 Kuka Deutschland Gmbh Roboterjustage
CN108927825B (zh) * 2018-08-16 2019-11-01 居鹤华 基于轴不变量的多轴机器人结构参数精测方法
CN109176517B (zh) * 2018-09-10 2021-04-30 武汉久同智能科技有限公司 基于末端名义点约束的串联工业机器人连杆参数标定方法

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US4676002A (en) * 1984-06-25 1987-06-30 Slocum Alexander H Mechanisms to determine position and orientation in space
US4714339B2 (en) * 1986-02-28 2000-05-23 Us Commerce Three and five axis laser tracking systems
DE3717459A1 (de) * 1987-05-23 1988-12-01 Zeiss Carl Fa Handgefuehrtes koordinatenmessgeraet
US5177563A (en) * 1989-02-01 1993-01-05 Texas A&M University System Method and apparatus for locating physical objects
GB8909357D0 (en) * 1989-04-25 1989-06-14 Renishaw Plc Position determining apparatus
US4980626A (en) * 1989-08-10 1990-12-25 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method and apparatus for positioning a robotic end effector
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5305091A (en) * 1992-12-07 1994-04-19 Oreo Products Inc. Optical coordinate measuring system for large objects
SE501867C2 (sv) * 1993-11-15 1995-06-12 Asea Brown Boveri Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp
GB9401692D0 (en) * 1994-01-28 1994-03-23 Renishaw Plc Performing measurement or calibration on positioning machines
US5802201A (en) * 1996-02-09 1998-09-01 The Trustees Of Columbia University In The City Of New York Robot system with vision apparatus and transparent grippers
US5783834A (en) * 1997-02-20 1998-07-21 Modular Process Technology Method and process for automatic training of precise spatial locations to a robot

Also Published As

Publication number Publication date
DE69602745T2 (de) 2000-03-16
JPH11502776A (ja) 1999-03-09
SE9501137L (sv) 1996-10-01
DE69602745D1 (de) 1999-07-08
SE508161C2 (sv) 1998-09-07
SE9501137D0 (sv) 1995-03-30
EP0824393A1 (en) 1998-02-25
WO1996030171A1 (en) 1996-10-03
EP0824393B1 (en) 1999-06-02
US5907229A (en) 1999-05-25

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