JP5695578B2 - ロボットアーム用位置情報測定装置及び方法 - Google Patents

ロボットアーム用位置情報測定装置及び方法 Download PDF

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Publication number
JP5695578B2
JP5695578B2 JP2011549679A JP2011549679A JP5695578B2 JP 5695578 B2 JP5695578 B2 JP 5695578B2 JP 2011549679 A JP2011549679 A JP 2011549679A JP 2011549679 A JP2011549679 A JP 2011549679A JP 5695578 B2 JP5695578 B2 JP 5695578B2
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Japan
Prior art keywords
projector
support frame
coordinate system
light
measuring device
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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
JP2011549679A
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English (en)
Japanese (ja)
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JP2012517907A5 (enExample
JP2012517907A (ja
Inventor
アンドレアス ハラランボス デモポウロス
アンドレアス ハラランボス デモポウロス
Original Assignee
イノス オートメーションズソフトウェア ゲゼルシャフト ミット ベシュレンクテル ハフツング
イノス オートメーションズソフトウェア ゲゼルシャフト ミット ベシュレンクテル ハフツング
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Publication date
Priority claimed from GB0902625A external-priority patent/GB0902625D0/en
Priority claimed from GB0918245A external-priority patent/GB0918245D0/en
Application filed by イノス オートメーションズソフトウェア ゲゼルシャフト ミット ベシュレンクテル ハフツング, イノス オートメーションズソフトウェア ゲゼルシャフト ミット ベシュレンクテル ハフツング filed Critical イノス オートメーションズソフトウェア ゲゼルシャフト ミット ベシュレンクテル ハフツング
Publication of JP2012517907A publication Critical patent/JP2012517907A/ja
Publication of JP2012517907A5 publication Critical patent/JP2012517907A5/ja
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • 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
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • 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
    • G05B2219/37571—Camera detecting reflected light from laser
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40611—Camera to monitor endpoint, end effector position
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40623—Track position of end effector by laser beam

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
JP2011549679A 2009-02-17 2010-02-16 ロボットアーム用位置情報測定装置及び方法 Expired - Fee Related JP5695578B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
GB0902625A GB0902625D0 (en) 2009-02-17 2009-02-17 Measurement of positional information
GB0902625.3 2009-02-17
GB0918245A GB0918245D0 (en) 2009-10-19 2009-10-19 Measurement of positional information for a robot arm
GB0918245.2 2009-10-19
PCT/GB2010/050249 WO2010094949A1 (en) 2009-02-17 2010-02-16 Measurement of positional information for a robot arm

Publications (3)

Publication Number Publication Date
JP2012517907A JP2012517907A (ja) 2012-08-09
JP2012517907A5 JP2012517907A5 (enExample) 2013-04-11
JP5695578B2 true JP5695578B2 (ja) 2015-04-08

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2011549679A Expired - Fee Related JP5695578B2 (ja) 2009-02-17 2010-02-16 ロボットアーム用位置情報測定装置及び方法

Country Status (7)

Country Link
US (1) US20110317879A1 (enExample)
EP (1) EP2399145A1 (enExample)
JP (1) JP5695578B2 (enExample)
KR (1) KR20110133477A (enExample)
CN (1) CN102395898A (enExample)
CA (1) CA2751878A1 (enExample)
WO (1) WO2010094949A1 (enExample)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8923603B2 (en) * 2007-08-17 2014-12-30 Renishaw Plc Non-contact measurement apparatus and method
WO2010013556A1 (ja) * 2008-07-30 2010-02-04 アイシン・エィ・ダブリュ株式会社 駆動装置および車両
GB0915904D0 (en) 2009-09-11 2009-10-14 Renishaw Plc Non-contact object inspection
WO2013091596A1 (de) 2011-12-19 2013-06-27 Isios Gmbh Anordnung und verfahren zur modellbasierten kalibration eines roboters in einem arbeitsraum
DE102012016106A1 (de) 2012-08-15 2014-02-20 Isios Gmbh Anordnung und Verfahren zur modellbasierten Kalibration eines Roboters in einem Arbeitsraum
CZ306033B6 (cs) * 2012-02-13 2016-07-07 ÄŚVUT v Praze, Fakulta strojnĂ­ Způsob nastavení polohy manipulačních ramen na nosném rámu a manipulační ramena pro uchycení technologických nebo měřicích prostředků
DE102012014312A1 (de) * 2012-07-19 2014-05-15 Kuka Roboter Gmbh Robotergeführte Messanordnung
EP2722136A1 (en) * 2012-10-19 2014-04-23 inos Automationssoftware GmbH Method for in-line calibration of an industrial robot, calibration system for performing such a method and industrial robot comprising such a calibration system
CN105452894B (zh) * 2013-06-13 2019-04-30 巴斯夫欧洲公司 用于光学地检测至少一个对象的检测器
US9476695B2 (en) * 2013-07-03 2016-10-25 Faro Technologies, Inc. Laser tracker that cooperates with a remote camera bar and coordinate measurement device
US9157795B1 (en) * 2013-07-16 2015-10-13 Bot & Dolly, Llc Systems and methods for calibrating light sources
US9731392B2 (en) * 2014-08-05 2017-08-15 Ati Industrial Automation, Inc. Robotic tool changer alignment modules
US20160243703A1 (en) 2015-02-19 2016-08-25 Isios Gmbh Arrangement and method for the model-based calibration of a robot in a working space
JP6665040B2 (ja) 2016-06-20 2020-03-13 三菱重工業株式会社 ロボット制御システム及びロボット制御方法
CN108226946A (zh) * 2018-01-23 2018-06-29 中国航空工业集团公司洛阳电光设备研究所 激光测距机及其信号单元底座
CN109238247B (zh) * 2018-07-15 2021-07-02 天津大学 一种面向大空间复杂现场的六自由度测量方法
CN110065072B (zh) * 2019-05-21 2021-04-20 西南交通大学 机器人重复定位精度的验证方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60200103A (ja) * 1984-03-26 1985-10-09 Hitachi Ltd 光切断線抽出回路
US5059789A (en) * 1990-10-22 1991-10-22 International Business Machines Corp. Optical position and orientation sensor
JPH08240442A (ja) * 1995-03-01 1996-09-17 Naotake Mori 多自由度角度及び変位測定機能を持つ受動式関節
JP4016526B2 (ja) * 1998-09-08 2007-12-05 富士ゼロックス株式会社 ３次元物体識別装置
US7239399B2 (en) * 2001-11-13 2007-07-03 Cyberoptics Corporation Pick and place machine with component placement inspection
DE10252082A1 (de) * 2002-11-08 2004-05-27 Carl Zeiss Positionsbestimmungssystem, Positionsbestimmungsverfahren und Bearbeitungssystem
DE602007011045D1 (de) * 2006-04-20 2011-01-20 Faro Tech Inc Kamerabasierte vorrichtung zur zielmessung und zielverfolgung mit sechs freiheitsgraden
KR101477481B1 (ko) * 2007-03-05 2014-12-30 이노스 오토메이션스소프트웨어 게엠베하 위치 결정 장치 및 방법
US8923603B2 (en) * 2007-08-17 2014-12-30 Renishaw Plc Non-contact measurement apparatus and method

Also Published As

Publication number Publication date
WO2010094949A1 (en) 2010-08-26
EP2399145A1 (en) 2011-12-28
US20110317879A1 (en) 2011-12-29
JP2012517907A (ja) 2012-08-09
CN102395898A (zh) 2012-03-28
CA2751878A1 (en) 2010-08-26
KR20110133477A (ko) 2011-12-12

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