ES8500664A1 - Procedimiento y dispositivo para captar y compensar la desviacion de la trayectoria de un robot industrial - Google Patents

Procedimiento y dispositivo para captar y compensar la desviacion de la trayectoria de un robot industrial

Info

Publication number
ES8500664A1
ES8500664A1 ES529955A ES529955A ES8500664A1 ES 8500664 A1 ES8500664 A1 ES 8500664A1 ES 529955 A ES529955 A ES 529955A ES 529955 A ES529955 A ES 529955A ES 8500664 A1 ES8500664 A1 ES 8500664A1
Authority
ES
Spain
Prior art keywords
path
deviation
compensating
determining
industrial robot
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
Application number
ES529955A
Other languages
English (en)
Other versions
ES529955A0 (es
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.)
DIGITALE AUTOMATION GmbH
Original Assignee
DIGITALE AUTOMATION GmbH
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 DIGITALE AUTOMATION GmbH filed Critical DIGITALE AUTOMATION GmbH
Publication of ES529955A0 publication Critical patent/ES529955A0/es
Publication of ES8500664A1 publication Critical patent/ES8500664A1/es
Expired 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • 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
    • 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
    • G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive

Landscapes

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

Abstract

PROCEDIMIENTO Y DISPOSITIVO PARA CAPTAR Y COMPENSAR LA DESVIACION DE LA TRAYECTORIA DE UN ROBOR INDUSTRIAL.CONSISTE EN: A) REPRESENTACION DE UNA TRAYECTORIA DE MOVIMIENTO NORMALIZADO (5) DE LA BRIDA DE HERRAMIENTA (2) SOBRE UNA SUPERFICIE (6); B) ALINEACION RESPECTO A LA SUPERFICIE (6) DE UN SENSOR OPTO-ELECTRONICO (3) MONTADO SOBRE LA BRIDA DE HERRAMIENTA (2); C) EL GUIADOR DE LA BRIDA DE HERRAMIENTA (2) MEDIANTE EL SENSOR OPTO-ELECTRONICO (3) MONTADO SOBRE LA MISMA, SEGUN EL PROGRAMA DE TRAYECTORIA TEORICO PREDETERMINADO; Y D) ALMACENAMIENTO DE LA DESVIACION DE LA TRAYECTORIA DE LA BRIDA DE HERRAMIENTA (2) RESULTANTE DE LAS DESVIACIONES DE LA TRAYECTORIA DE MOVIMIENTO TEORICO (5) PREDETERMINADA REFLEJADA EN LA IMAGEN POR EL SENSOR OPTO-ELECTRONICO (3) RESPECTO A SU PUNTO CENTRAL.
ES529955A 1983-02-26 1984-02-22 Procedimiento y dispositivo para captar y compensar la desviacion de la trayectoria de un robot industrial Expired ES8500664A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19833306888 DE3306888A1 (de) 1983-02-26 1983-02-26 Verfahren und vorrichtung zum erfassen und kompensieren der bahnabweichung eines industrieroboters

Publications (2)

Publication Number Publication Date
ES529955A0 ES529955A0 (es) 1984-11-01
ES8500664A1 true ES8500664A1 (es) 1984-11-01

Family

ID=6191984

Family Applications (1)

Application Number Title Priority Date Filing Date
ES529955A Expired ES8500664A1 (es) 1983-02-26 1984-02-22 Procedimiento y dispositivo para captar y compensar la desviacion de la trayectoria de un robot industrial

Country Status (5)

Country Link
EP (1) EP0120197A1 (es)
JP (1) JPS59163607A (es)
DE (1) DE3306888A1 (es)
ES (1) ES8500664A1 (es)
FI (1) FI840572A (es)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3405909A1 (de) * 1984-02-18 1985-08-22 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Vorrichtung zur erfassung, messtechnischen analyse und/oder regelung von technischen verfahrensablaeufen
EP0260984B1 (en) * 1986-09-19 1992-07-29 Texas Instruments Incorporated Mobile robot on-board vision system
JP2802329B2 (ja) * 1992-01-16 1998-09-24 株式会社ダイモ社 構造物の円形切断方法及びその装置
DE4405865C2 (de) * 1994-02-23 1998-03-19 Leonhard Werner Verfahren zur Erfassung von Bildinhalten eines zeilenorientierten Bildsensors und zugehörige Einrichtung für Handhabungssysteme
GB9801945D0 (en) * 1998-01-29 1998-03-25 Armstrong Healthcare Ltd Improvements in or relating to a robot control system
CN116300969B (zh) * 2023-05-16 2023-08-11 山东商业职业技术学院 一种移动机器人的路径跟踪方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3795054A (en) * 1970-08-13 1974-03-05 American Welding Mfg Co Method and apparatus for calibrating the position of a tool and for gauging the dimension of a workpiece
CA1073111A (en) * 1975-11-28 1980-03-04 Bendix Corporation Method and apparatus for calibrating mechanical-visual part manipulating system

Also Published As

Publication number Publication date
FI840572A (fi) 1984-08-27
ES529955A0 (es) 1984-11-01
JPS59163607A (ja) 1984-09-14
DE3306888A1 (de) 1984-09-13
EP0120197A1 (de) 1984-10-03
FI840572A0 (fi) 1984-02-14

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