FR3043004B1 - Procede d'orientation d'un effecteur portant un outil d'assemblage par rapport a une surface - Google Patents

Procede d'orientation d'un effecteur portant un outil d'assemblage par rapport a une surface

Info

Publication number
FR3043004B1
FR3043004B1 FR1560363A FR1560363A FR3043004B1 FR 3043004 B1 FR3043004 B1 FR 3043004B1 FR 1560363 A FR1560363 A FR 1560363A FR 1560363 A FR1560363 A FR 1560363A FR 3043004 B1 FR3043004 B1 FR 3043004B1
Authority
FR
France
Prior art keywords
effector
orientation
relation
assembly tool
tool
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.)
Active
Application number
FR1560363A
Other languages
English (en)
Other versions
FR3043004A1 (fr
Inventor
Marc Douilly
Guillaume Even
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.)
Airbus Group SAS
Original Assignee
Airbus Group SAS
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 Airbus Group SAS filed Critical Airbus Group SAS
Priority to FR1560363A priority Critical patent/FR3043004B1/fr
Priority to PCT/FR2016/052815 priority patent/WO2017072466A1/fr
Priority to US15/769,663 priority patent/US20180311823A1/en
Publication of FR3043004A1 publication Critical patent/FR3043004A1/fr
Application granted granted Critical
Publication of FR3043004B1 publication Critical patent/FR3043004B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • G05B2219/37008—Calibration of measuring system, probe, sensor
    • 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
    • G05B2219/37017—Calibration of vision system, set correct attidude of sensor to workpiece
    • 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
    • G05B2219/37404—Orientation of workpiece or tool, surface sensor
    • 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
    • G05B2219/50356—Tool perpendicular, normal to 3-D surface
FR1560363A 2015-10-29 2015-10-29 Procede d'orientation d'un effecteur portant un outil d'assemblage par rapport a une surface Active FR3043004B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR1560363A FR3043004B1 (fr) 2015-10-29 2015-10-29 Procede d'orientation d'un effecteur portant un outil d'assemblage par rapport a une surface
PCT/FR2016/052815 WO2017072466A1 (fr) 2015-10-29 2016-10-28 Procédé d'orientation d'un effecteur portant un outil d'assemblage par rapport à une surface
US15/769,663 US20180311823A1 (en) 2015-10-29 2016-10-28 Method for orienting an effector carrying an assembly tool relative to a surface

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1560363A FR3043004B1 (fr) 2015-10-29 2015-10-29 Procede d'orientation d'un effecteur portant un outil d'assemblage par rapport a une surface

Publications (2)

Publication Number Publication Date
FR3043004A1 FR3043004A1 (fr) 2017-05-05
FR3043004B1 true FR3043004B1 (fr) 2017-12-22

Family

ID=55236577

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1560363A Active FR3043004B1 (fr) 2015-10-29 2015-10-29 Procede d'orientation d'un effecteur portant un outil d'assemblage par rapport a une surface

Country Status (3)

Country Link
US (1) US20180311823A1 (fr)
FR (1) FR3043004B1 (fr)
WO (1) WO2017072466A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3087373B1 (fr) * 2018-10-22 2020-10-09 Advanced Electrical Tools Procede de mise en poussee sans glissement d'un outil a l'extremite d'un bras articule contre une surface et dispositif pour sa mise en oeuvre

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CN104608128A (zh) * 2013-11-01 2015-05-13 精工爱普生株式会社 机器人、控制装置、机器人系统、以及机器人控制方法
CN104827480A (zh) * 2014-02-11 2015-08-12 泰科电子(上海)有限公司 机器人系统的自动标定方法
CN105091807B (zh) * 2014-04-30 2017-12-01 鸿富锦精密工业（深圳）有限公司 机器人工具坐标系的校正方法
US10118714B2 (en) * 2014-04-30 2018-11-06 The Boeing Company System and method for positioning an automated assembly tool relative to a structure
JP6416560B2 (ja) * 2014-09-11 2018-10-31 株式会社デンソー 位置決め制御装置
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US10512983B2 (en) * 2015-06-15 2019-12-24 University Of Kentucky Research Foundation Method and apparatus for measurement of three-dimensional welding torch orientation for a welding process without using a magnetometer
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Also Published As

Publication number Publication date
FR3043004A1 (fr) 2017-05-05
US20180311823A1 (en) 2018-11-01
WO2017072466A1 (fr) 2017-05-04

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