GB1518244A - Method and apparatus for calibrating mechanical visual part manipulation system - Google Patents

Method and apparatus for calibrating mechanical visual part manipulation system

Info

Publication number
GB1518244A
GB1518244A GB4355576A GB4355576A GB1518244A GB 1518244 A GB1518244 A GB 1518244A GB 4355576 A GB4355576 A GB 4355576A GB 4355576 A GB4355576 A GB 4355576A GB 1518244 A GB1518244 A GB 1518244A
Authority
GB
United Kingdom
Prior art keywords
systems
ordinate
ordinate system
manipulation system
visual part
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
GB4355576A
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.)
Bendix Corp
Original Assignee
Bendix Corp
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
Priority claimed from US05/636,069 external-priority patent/US3986007A/en
Application filed by Bendix Corp filed Critical Bendix Corp
Publication of GB1518244A publication Critical patent/GB1518244A/en
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
    • B25J19/023—Optical sensing devices including video camera means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

1518244 Workpiece manipulator BENDIX CORP 20 Oct 1976 [28 Nov 1975] 43555/76 Heading G3N A robot arm 26 has sensors which generate signals indicating the position of a work holder 28 in a first co-ordinate system. A TV system 22, 20 generates signals, representing the position of a part 10, in a second co-ordinate system. A digital computer 24 receives both first and second co-ordinate system signals and converts the second to the first. The co-ordinate conversion is effected by finding the angle of rotation between the two systems and the distance between their origins by observing a target moved by the work-holder in the two systems. It also calculates a length scaling factor representing the ratio between an observed distance in the different systems. The digital computer can be replaced by hardwired circuits or an analog computer.
GB4355576A 1975-11-28 1976-10-20 Method and apparatus for calibrating mechanical visual part manipulation system Expired GB1518244A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/636,069 US3986007A (en) 1975-08-20 1975-11-28 Method and apparatus for calibrating mechanical-visual part manipulating system

Publications (1)

Publication Number Publication Date
GB1518244A true GB1518244A (en) 1978-07-19

Family

ID=24550294

Family Applications (1)

Application Number Title Priority Date Filing Date
GB4355576A Expired GB1518244A (en) 1975-11-28 1976-10-20 Method and apparatus for calibrating mechanical visual part manipulation system

Country Status (6)

Country Link
JP (1) JPS5267355A (en)
AU (1) AU503000B2 (en)
CA (1) CA1073111A (en)
DE (1) DE2649608A1 (en)
FR (1) FR2332843A1 (en)
GB (1) GB1518244A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2123172A (en) * 1982-07-06 1984-01-25 Emi Ltd A robot control system
DE3246828A1 (en) * 1982-12-17 1984-06-20 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Mobile transporting and handling device
US4468695A (en) * 1980-11-20 1984-08-28 Tokico Ltd. Robot
EP0120197A1 (en) * 1983-02-26 1984-10-03 Gesellschaft für digitale Automation mbH Method and device for determining and compensating the deviation of the path of an industrial robot
US4642540A (en) * 1982-11-04 1987-02-10 Emi Limited Robot control systems
WO1995000299A1 (en) * 1993-06-17 1995-01-05 Pii-Robotics Oy Method for treatment of a piece
WO1997017173A1 (en) * 1995-11-03 1997-05-15 Oy Robotic Technology Systems Finland Ltd. Machining cell and method for machining of a piece

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5414763A (en) * 1977-07-05 1979-02-03 Mitsutoyo Seisakusho Coordinate measuring display system
CH627959A5 (en) * 1977-10-04 1982-02-15 Bbc Brown Boveri & Cie METHOD AND DEVICE FOR DETERMINING THE ROTATION OF OBJECTS.
JPS5630609A (en) * 1979-08-21 1981-03-27 Kosaka Kenkyusho:Kk Polar coordinate recorder
JPS57192807A (en) * 1981-05-25 1982-11-27 Hitachi Ltd Centering method
IN161120B (en) * 1983-03-30 1987-10-03 Wyler Ag
JPS60159905A (en) * 1984-01-30 1985-08-21 Hitachi Ltd Control device of robot provided with visual sense
JPS6138511A (en) * 1984-07-31 1986-02-24 Toyo Electric Mfg Co Ltd Coordinate measurement system for solid body
DE3445849A1 (en) * 1984-12-15 1986-06-19 Dürr Automation + Fördertechnik GmbH, 7889 Grenzach-Wyhlen Industrial robot
JPH07104153B2 (en) * 1985-09-24 1995-11-13 株式会社ニコン Drive
RU2472612C1 (en) * 2011-06-01 2013-01-20 Российская Федерация, От Имени Которой Выступает Министерство Промышленности И Торговли Российской Федерации Bench to control accuracy of contour movements of industrial robot
RU2641604C1 (en) * 2016-12-28 2018-01-18 Федеральное государственное автономное образовательное учреждение высшего образования "Дальневосточный федеральный университет" (ДВФУ) Method of measuring absolute position of end link of ndustrial robot multilink mechanism
CN107553493A (en) * 2017-09-22 2018-01-09 东南大学 A kind of robot kinematics' parameter calibration method based on displacement sensor for pull rope
RU2721769C1 (en) * 2019-08-28 2020-05-22 Федеральное государственное автономное образовательное учреждение высшего образования "Национальный исследовательский Томский политехнический университет" Bench for monitoring contour movements of flexible manipulator

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4017721A (en) * 1974-05-16 1977-04-12 The Bendix Corporation Method and apparatus for determining the position of a body

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4468695A (en) * 1980-11-20 1984-08-28 Tokico Ltd. Robot
GB2123172A (en) * 1982-07-06 1984-01-25 Emi Ltd A robot control system
US4642540A (en) * 1982-11-04 1987-02-10 Emi Limited Robot control systems
DE3246828A1 (en) * 1982-12-17 1984-06-20 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Mobile transporting and handling device
EP0120197A1 (en) * 1983-02-26 1984-10-03 Gesellschaft für digitale Automation mbH Method and device for determining and compensating the deviation of the path of an industrial robot
WO1995000299A1 (en) * 1993-06-17 1995-01-05 Pii-Robotics Oy Method for treatment of a piece
WO1997017173A1 (en) * 1995-11-03 1997-05-15 Oy Robotic Technology Systems Finland Ltd. Machining cell and method for machining of a piece

Also Published As

Publication number Publication date
CA1073111A (en) 1980-03-04
FR2332843B1 (en) 1981-06-12
FR2332843A1 (en) 1977-06-24
AU1949576A (en) 1978-05-18
JPS5267355A (en) 1977-06-03
AU503000B2 (en) 1979-08-16
DE2649608A1 (en) 1977-06-08

Similar Documents

Publication Publication Date Title
GB1518244A (en) Method and apparatus for calibrating mechanical visual part manipulation system
EP0329635A3 (en) Method for determining positional errors and for compensating for such errors, and apparatus for carrying out the method
CA1035444A (en) Cooperative multiaxis sensor for teleoperation or article manipulating apparatus
SE8304101D0 (en) SYSTEM FOR AUTOMATICALLY CALIBRATING THE SPACE COORDINATES OF A ROBOT GRIPPER IN SIX DEGREES OF FREEDOM
GB1273096A (en) Manipulator apparatus
CA1009056A (en) Apparatus for testing corrosion resistance of workpiece surfaces
GB1532927A (en) Method and apparatus for generating position or path control programmes using force feedback
FR2448417A1 (en) Control system to finish large optical surface - uses sensors to measure momentary work and tool coordinates to control tool pressures and dwell times
JPS6483103A (en) Method for correcting position coordinates of workpiece
KR960013532A (en) Bite cutting device and cutting method
JPS642889A (en) Calibrating method for robot visual coordinate system
JPS5249052A (en) Method of measuring underground pipe lines
JPS6416354A (en) Tool diameter measuring method
IT1205921B (en) Calibration method for mechanical visual part manipulating system - uses work holder position sensors and TV camera
JPS5997873A (en) Method of correcting positional displacement of work in robot
JPS6472208A (en) Conversion system between robot coordinate and visual coordinate
JPS53104266A (en) Measuring method of three-dimensional curved surfaces and apparatus for the same
JPS55164305A (en) Origin setting method and origin setting block of coordinate measuring machine
JPS575110A (en) Control system for track of industrial robot or the like
JPS5756072A (en) Coating method by robot
SE310520B (en)
JPS6340802A (en) Coordinate conversion
JPS6431209A (en) Method for detecting arm position
JPS5975112A (en) Size and shape measuring device by industrial robot
JPS54102672A (en) Automatic measuring device

Legal Events

Date Code Title Description
PS Patent sealed
PCNP Patent ceased through non-payment of renewal fee