FI842847A - System foer automatisk kalibrering av rymdkoordinaterna hos en robotgripper i sex frihetsgrader. - Google Patents

System foer automatisk kalibrering av rymdkoordinaterna hos en robotgripper i sex frihetsgrader. Download PDF

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Publication number
FI842847A
FI842847A FI842847A FI842847A FI842847A FI 842847 A FI842847 A FI 842847A FI 842847 A FI842847 A FI 842847A FI 842847 A FI842847 A FI 842847A FI 842847 A FI842847 A FI 842847A
Authority
FI
Finland
Prior art keywords
robotgripper
frihetsgrader
hos
coordinator
sex
Prior art date
Application number
FI842847A
Other languages
English (en)
Other versions
FI842847A0 (fi
FI76275C (fi
FI76275B (fi
Inventor
Laszlo Szoenyi
Goesta Ekstroem
Original Assignee
Ibm
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 Ibm filed Critical Ibm
Publication of FI842847A0 publication Critical patent/FI842847A0/fi
Publication of FI842847A publication Critical patent/FI842847A/fi
Application granted granted Critical
Publication of FI76275B publication Critical patent/FI76275B/fi
Publication of FI76275C publication Critical patent/FI76275C/fi

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
    • G05B2219/50139—Calibration, setting tool after measurement on tool

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
FI842847A 1983-07-22 1984-07-16 Metod foer automatisk kalibrering och kompensering av en robotgripper i alla frihetsgrader. FI76275C (fi)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE8304101 1983-07-22
SE8304101A SE8304101L (sv) 1983-07-22 1983-07-22 System for automatisk kalibrering av rymdkoordinater hos en robotgripper i sex frihetsgrader

Publications (4)

Publication Number Publication Date
FI842847A0 FI842847A0 (fi) 1984-07-16
FI842847A true FI842847A (fi) 1985-01-23
FI76275B FI76275B (fi) 1988-06-30
FI76275C FI76275C (fi) 1988-10-10

Family

ID=20352040

Family Applications (1)

Application Number Title Priority Date Filing Date
FI842847A FI76275C (fi) 1983-07-22 1984-07-16 Metod foer automatisk kalibrering och kompensering av en robotgripper i alla frihetsgrader.

Country Status (8)

Country Link
US (1) US4581566A (fi)
EP (1) EP0132616B1 (fi)
JP (1) JPS6025681A (fi)
DE (1) DE3463912D1 (fi)
DK (1) DK357684A (fi)
FI (1) FI76275C (fi)
NO (1) NO159065C (fi)
SE (1) SE8304101L (fi)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4683406A (en) * 1984-06-08 1987-07-28 Nec Corporation Joint assembly movable like a human arm
JPS6125207A (ja) * 1984-07-12 1986-02-04 Fanuc Ltd ツ−ル座標系の設定方式
JP2684359B2 (ja) * 1985-02-22 1997-12-03 ファナック 株式会社 ロボットのワーク直交座標系設定装置
JPS61203286A (ja) * 1985-03-07 1986-09-09 三菱電機株式会社 産業用ロボツト装置
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
DD240351A1 (de) * 1985-08-19 1986-10-29 Werkzeugmasch Okt Veb Industrieroboter fuer die handhabung von werkstuecken und werkzeugen
US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US4725965A (en) * 1986-07-23 1988-02-16 American Telephone And Telegraph Company Method for calibrating a SCARA robot
US4841762A (en) * 1987-10-27 1989-06-27 Automatix Incorporated Symmetry calibration method for multi-configuration robots
US4908777A (en) * 1988-01-27 1990-03-13 Storage Technology Corporation Robot arm calibration system
US5086319A (en) * 1989-11-17 1992-02-04 Xerox Corporation Multiple servo system for compensation of document mis-registration
US5105368A (en) * 1990-08-01 1992-04-14 At&T Bell Laboratories Method for improving robot accuracy
US5392384A (en) * 1991-04-09 1995-02-21 Kabushiki Kaisha Yaskawa Denki Method of calibrating an industrial robot
JPH04359302A (ja) * 1991-06-05 1992-12-11 Hitachi Ltd ロボットの制御方法
US5798627A (en) 1995-01-04 1998-08-25 Gilliland; Malcolm T. Method for simultaneous operation of robot welders
KR0176662B1 (ko) * 1995-12-28 1999-04-01 김광호 칩마운터용 직교로봇의 칩마운팅 위치제어방법 및 위치제어장치
DE19616276C2 (de) * 1996-04-24 1998-04-30 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Vermessen und Kalibrieren eines mehrachsigen Manipulators
US5740328A (en) * 1996-08-12 1998-04-14 The Regents Of The University Of California Apparatus for robotic positional referencing and calibration
US6571148B1 (en) 2000-05-03 2003-05-27 The Boeing Company System for automatically certifying the accuracy of a manufacturing machine and associated methods
TW493799U (en) * 2000-12-15 2002-07-01 Mosel Vitelic Inc Teaching tool for a robot arm for wafer reaction ovens
DE10203002B4 (de) * 2002-01-26 2006-12-28 Wilhelm Karmann Gmbh Vorrichtung zum Kalibrieren eines Roboters
JP4578809B2 (ja) * 2004-01-08 2010-11-10 本田技研工業株式会社 アシスト搬送装置
JP4578808B2 (ja) * 2004-01-08 2010-11-10 本田技研工業株式会社 アシスト搬送装置
JP2014176943A (ja) * 2013-03-15 2014-09-25 Yaskawa Electric Corp ロボットシステム、校正方法及び被加工物の製造方法
CN103707292B (zh) * 2013-12-30 2015-08-19 上海交通大学 基于xyz直角坐标关节和姿态腕的6自由度工业机器人
TW201600275A (zh) * 2014-06-26 2016-01-01 Hiwin Tech Corp 機械手臂系統及其平行度校正方法
US10317872B2 (en) * 2015-08-07 2019-06-11 Spm Automation (Canada) Inc. Method of self-adjusting a machine to compensate for part-to-part variations
EP3703987A1 (en) * 2017-11-03 2020-09-09 Starship Technologies OÜ Device, system and method for storing, safeguarding and maintaining a mobile robot
WO2022074448A1 (en) * 2020-10-06 2022-04-14 Mark Oleynik Robotic kitchen hub systems and methods for minimanipulation library adjustments and calibrations of multi-functional robotic platforms for commercial and residential environments with artificial intelligence and machine learning
GB2616844A (en) * 2022-03-20 2023-09-27 True Position Robotics Ltd Robot guidance using multiple frames

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51141165A (en) * 1975-05-29 1976-12-04 Toshiba Corp Reference position adjusting system for industrial robot
SE443531B (sv) * 1978-11-27 1986-03-03 Asea Ab Industrirobotutrustning
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
JPH065486B2 (ja) * 1981-03-26 1994-01-19 株式会社安川電機 ロボットの軌跡制御方法
US4372721A (en) * 1981-05-18 1983-02-08 Nordson Corporation Apparatus for calibrating link position transducers of a teaching robot and a work robot

Also Published As

Publication number Publication date
FI842847A0 (fi) 1984-07-16
SE8304101L (sv) 1985-01-23
NO842908L (no) 1985-01-23
DE3463912D1 (en) 1987-07-02
JPS6025681A (ja) 1985-02-08
DK357684A (da) 1985-01-23
NO159065C (no) 1988-11-30
JPH0429516B2 (fi) 1992-05-19
DK357684D0 (da) 1984-07-20
FI76275C (fi) 1988-10-10
EP0132616B1 (en) 1987-05-27
NO159065B (no) 1988-08-22
EP0132616A1 (en) 1985-02-13
FI76275B (fi) 1988-06-30
SE8304101D0 (sv) 1983-07-22
US4581566A (en) 1986-04-08

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