FR3045849B1 - Systeme et procede pour la correction d’une trajectoire d’un effecteur porte par un robot - Google Patents

Systeme et procede pour la correction d’une trajectoire d’un effecteur porte par un robot Download PDF

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Publication number
FR3045849B1
FR3045849B1 FR1562802A FR1562802A FR3045849B1 FR 3045849 B1 FR3045849 B1 FR 3045849B1 FR 1562802 A FR1562802 A FR 1562802A FR 1562802 A FR1562802 A FR 1562802A FR 3045849 B1 FR3045849 B1 FR 3045849B1
Authority
FR
France
Prior art keywords
effector
robot
correcting
track
fitted
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 - Fee Related
Application number
FR1562802A
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English (en)
Other versions
FR3045849A1 (fr
Inventor
Marc Douilly
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 FR1562802A priority Critical patent/FR3045849B1/fr
Priority to PCT/FR2016/053446 priority patent/WO2017103489A1/fr
Publication of FR3045849A1 publication Critical patent/FR3045849A1/fr
Application granted granted Critical
Publication of FR3045849B1 publication Critical patent/FR3045849B1/fr
Expired - Fee Related 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • G05B2219/39177—Compensation position working point as function of inclination tool, hand
    • 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
    • G05B2219/39183—Compliance compensation

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
FR1562802A 2015-12-18 2015-12-18 Systeme et procede pour la correction d’une trajectoire d’un effecteur porte par un robot Expired - Fee Related FR3045849B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1562802A FR3045849B1 (fr) 2015-12-18 2015-12-18 Systeme et procede pour la correction d’une trajectoire d’un effecteur porte par un robot
PCT/FR2016/053446 WO2017103489A1 (fr) 2015-12-18 2016-12-15 Système et procédé pour la correction d'une trajectoire d'un effecteur porté par un robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1562802 2015-12-18
FR1562802A FR3045849B1 (fr) 2015-12-18 2015-12-18 Systeme et procede pour la correction d’une trajectoire d’un effecteur porte par un robot

Publications (2)

Publication Number Publication Date
FR3045849A1 FR3045849A1 (fr) 2017-06-23
FR3045849B1 true FR3045849B1 (fr) 2018-11-09

Family

ID=55361810

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1562802A Expired - Fee Related FR3045849B1 (fr) 2015-12-18 2015-12-18 Systeme et procede pour la correction d’une trajectoire d’un effecteur porte par un robot

Country Status (2)

Country Link
FR (1) FR3045849B1 (fr)
WO (1) WO2017103489A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111496782B (zh) * 2020-03-17 2022-03-08 吉利汽车研究院（宁波）有限公司 机器人工具点的测量系统、方法、处理设备及存储介质
CN112729110B (zh) * 2020-12-23 2023-01-06 联合汽车电子有限公司 机器人轻微碰撞补偿校正系统
CN113050424A (zh) * 2021-03-19 2021-06-29 安徽理工大学环境友好材料与职业健康研究院(芜湖) 基于图像识别智能化自适应控制方法与系统
CN113910239B (zh) * 2021-11-09 2022-05-10 天津大学 工业机器人绝对定位误差补偿装置及方法
CN118170108B (zh) * 2024-05-16 2024-08-02 四川蓉大智能设备有限公司 一种基于视觉定位的轮盘式自动翻抛控制系统

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19826395A1 (de) * 1998-06-12 1999-12-23 Amatec Gmbh Verfahren zum Erfassen und Kompensieren von kinematischen Veränderungen eines Roboters
JP2003117861A (ja) * 2001-10-15 2003-04-23 Denso Corp ロボットの位置補正システム

Also Published As

Publication number Publication date
WO2017103489A1 (fr) 2017-06-22
FR3045849A1 (fr) 2017-06-23

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