JP6182143B2 - ロボットの較正およびプログラミング - Google Patents

ロボットの較正およびプログラミング Download PDF

Info

Publication number
JP6182143B2
JP6182143B2 JP2014532317A JP2014532317A JP6182143B2 JP 6182143 B2 JP6182143 B2 JP 6182143B2 JP 2014532317 A JP2014532317 A JP 2014532317A JP 2014532317 A JP2014532317 A JP 2014532317A JP 6182143 B2 JP6182143 B2 JP 6182143B2
Authority
JP
Japan
Prior art keywords
robot
robots
sensor information
joint
chain
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
JP2014532317A
Other languages
English (en)
Japanese (ja)
Other versions
JP2014527920A5 (enExample
JP2014527920A (ja
Inventor
ルーン セー−クヌーセン，
ルーン セー−クヌーセン，
エスベン ハルンドベク エステルゴー，
エスベン ハルンドベク エステルゴー，
ヘンリク ゴードン ピーターセン，
ヘンリク ゴードン ピーターセン，
Original Assignee
ユニバーサル ロボッツ アクツイエセルスカプ
ユニバーサル ロボッツ アクツイエセルスカプ
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 ユニバーサル ロボッツ アクツイエセルスカプ, ユニバーサル ロボッツ アクツイエセルスカプ filed Critical ユニバーサル ロボッツ アクツイエセルスカプ
Publication of JP2014527920A publication Critical patent/JP2014527920A/ja
Publication of JP2014527920A5 publication Critical patent/JP2014527920A5/ja
Application granted granted Critical
Publication of JP6182143B2 publication Critical patent/JP6182143B2/ja
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
    • B25J9/0081—Programme-controlled manipulators with leader teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • 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
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • 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
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration
    • 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
    • G05B2219/39049—Calibration cooperating manipulators, closed kinematic chain by bolting
    • 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
    • G05B2219/40387—Modify without repeating teaching operation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/03—Teaching system
    • Y10S901/05—Machine driven lead through

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
JP2014532317A 2011-09-28 2012-09-18 ロボットの較正およびプログラミング Active JP6182143B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201161540150P 2011-09-28 2011-09-28
US61/540,150 2011-09-28
PCT/EP2012/068337 WO2013045314A1 (en) 2011-09-28 2012-09-18 Calibration and programming of robots

Publications (3)

Publication Number Publication Date
JP2014527920A JP2014527920A (ja) 2014-10-23
JP2014527920A5 JP2014527920A5 (enExample) 2015-11-05
JP6182143B2 true JP6182143B2 (ja) 2017-08-16

Family

ID=47073408

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2014532317A Active JP6182143B2 (ja) 2011-09-28 2012-09-18 ロボットの較正およびプログラミング

Country Status (11)

Country Link
US (2) US9248573B2 (enExample)
EP (2) EP2796249B1 (enExample)
JP (1) JP6182143B2 (enExample)
KR (1) KR102050895B1 (enExample)
CN (2) CN103889663B (enExample)
BR (1) BR112014007077A2 (enExample)
DK (2) DK2796249T3 (enExample)
MX (1) MX343142B (enExample)
RU (1) RU2605393C2 (enExample)
SG (2) SG10201502615QA (enExample)
WO (1) WO2013045314A1 (enExample)

Families Citing this family (96)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11000407B2 (en) 2007-08-07 2021-05-11 Belmont Instrument, Llc Hyperthermia, system, method, and components
EP2453325A1 (en) 2010-11-16 2012-05-16 Universal Robots ApS Method and means for controlling a robot
KR102050895B1 (ko) 2011-09-28 2020-01-08 유니버셜 로보츠 에이/에스 로봇의 캘리브레이션 및 프로그래밍
JP5938954B2 (ja) * 2012-03-06 2016-06-22 株式会社ジェイテクト ロボットのキャリブレーション方法及びキャリブレーション装置
JP2013184236A (ja) * 2012-03-06 2013-09-19 Jtekt Corp ロボットのキャリブレーション方法及びキャリブレーション装置
TWI504492B (zh) * 2013-04-30 2015-10-21 Hiwin Tech Corp Spherical Linkage Surgical Arm
US9452533B2 (en) * 2013-05-15 2016-09-27 Hexagon Technology Center Gmbh Robot modeling and positioning
JP5792226B2 (ja) * 2013-05-29 2015-10-07 株式会社神戸製鋼所 多関節リンク機構の逆運動学解法、及びこの逆運動学解法を利用した教示データ作成装置
SE537534C2 (sv) * 2013-08-27 2015-06-02 Cognibotics Ab Metod och system för bestämning av åtminstone en egenskap hos en manipulator
DE102013220798A1 (de) 2013-10-15 2015-04-16 Kuka Laboratories Gmbh Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter
US9874628B2 (en) * 2013-11-12 2018-01-23 The Boeing Company Dual hidden point bars
KR102386763B1 (ko) 2014-03-04 2022-04-14 유니버셜 로보츠 에이/에스 산업용 로봇을 위한 안전 시스템
US9908235B2 (en) * 2014-03-06 2018-03-06 Rene Andre Silva Viego Robotic system
EP3868326B1 (en) 2014-03-17 2025-12-31 Intuitive Surgical Operations, Inc. TOOL POSITIONING SYSTEM
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
CN112518790A (zh) 2014-09-26 2021-03-19 泰瑞达公司 手爪和自动测试设备
KR102479015B1 (ko) 2014-10-27 2022-12-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블 운동을 위한 시스템 및 방법
JP6676060B2 (ja) * 2014-10-27 2020-04-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 器具外乱補償のためのシステム及び方法
KR102799097B1 (ko) 2014-10-27 2025-04-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법
CN105588525B (zh) * 2014-11-14 2019-09-20 北京配天技术有限公司 一种工具在机器人法兰坐标系上的标定方法及装置
US10408670B2 (en) * 2014-12-17 2019-09-10 Norgren Automation Solutions, Llc Apparatus and method for detecting multiple workpieces
US9919421B2 (en) * 2015-04-15 2018-03-20 Abb Schweiz Ag Method and apparatus for robot path teaching
JP2016221645A (ja) * 2015-06-02 2016-12-28 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
US10059004B2 (en) * 2015-06-22 2018-08-28 Ricoh Company, Ltd. Robot, information processing system, and storage medium
MX2018000008A (es) 2015-07-08 2018-03-15 Universal Robots As Metodo para extender la programacion de usuario final de un robot industrial con contribuciones de terceros.
US9844872B1 (en) 2015-07-13 2017-12-19 X Development Llc Determining sensor parameters and model parameters of a robot
US10564031B1 (en) * 2015-08-24 2020-02-18 X Development Llc Methods and systems for determining errors based on detected sounds during operation of a robotic device
US10860752B2 (en) 2015-08-25 2020-12-08 Dassault Systémes Americas Corp. Method and system for vision measure for digital human models
US10621384B2 (en) * 2015-12-09 2020-04-14 Dassault Systemes Americas Corp. Method and system of constraint-based optimization of digital human upper limb models
GB2547182B (en) * 2015-12-10 2021-04-21 Cmr Surgical Ltd Measuring robot performance
US11192243B2 (en) 2016-03-29 2021-12-07 Cognibotics Ab Method, constraining device and system for determining geometric properties of a manipulator
JP6686644B2 (ja) * 2016-04-06 2020-04-22 セイコーエプソン株式会社 ロボットおよびロボットシステム
TWI805545B (zh) 2016-04-12 2023-06-21 丹麥商環球機器人公司 用於藉由示範來程式化機器人之方法和電腦程式產品
CN105856921B (zh) * 2016-06-03 2018-07-10 鲁东大学 一种可调球面机构绘图仪
RU169864U1 (ru) * 2016-07-12 2017-04-04 Российская Федерация, от имени которой выступает ФОНД ПЕРСПЕКТИВНЫХ ИССЛЕДОВАНИЙ Задающее устройство копирующего манипулятора
CN106546170B (zh) * 2016-10-13 2019-05-14 同济大学 一种机器人运动轨迹关键点误差测量方法
DE102016013083B4 (de) * 2016-11-02 2021-07-22 Kuka Roboter Gmbh Kalibrieren eines Modells eines Prozess-Roboters und Betreiben eines Prozess-Roboters
CN106378773A (zh) * 2016-12-06 2017-02-08 无锡市创恒机械有限公司 机器人固定座装置
IT201600130715A1 (it) * 2016-12-23 2018-06-23 Comau Spa "Dispositivo funzionale, in particolare robot, a moduli componibili per uso educativo"
DK3348361T3 (da) 2017-01-13 2022-03-21 Universal Robots As Fastspændt flangesamling
US10661438B2 (en) * 2017-01-16 2020-05-26 Ants Technology (Hk) Limited Robot apparatus, methods and computer products
CN110545747A (zh) * 2017-04-24 2019-12-06 思想外科有限公司 磁耦合和校准机器人系统的方法
WO2018199947A1 (en) * 2017-04-26 2018-11-01 Hewlett-Packard Development Company, L.P. Robotic structure calibrations
US11207778B2 (en) * 2017-06-30 2021-12-28 Siemens Industry Software Ltd. Method and system for determining joint values of an external axis in robot manufacturing
CN109866220B (zh) 2017-12-05 2021-07-23 财团法人工业技术研究院 机械手臂的校正装置及其校正方法
EP3498433A1 (en) 2017-12-14 2019-06-19 Universal Robots A/S Dynamical safety trajectories in a robotic system
CN110053040B (zh) * 2018-01-18 2021-03-02 深圳市裕展精密科技有限公司 机器人工具面的校准方法
JP2019177436A (ja) * 2018-03-30 2019-10-17 日本電産株式会社 ロボット制御装置、ロボットの関節の角度を求める方法、プログラム
WO2019219886A2 (en) 2018-05-18 2019-11-21 Universal Robots A/S Robot joint comprising brake assembly
WO2019238975A1 (en) 2018-06-15 2019-12-19 Universal Robots A/S Dual mode free-drive of robot arm
US20210260759A1 (en) * 2018-06-15 2021-08-26 Universal Robots A/S Estimation of payload attached to a robot arm
EP3610993B1 (en) * 2018-08-14 2025-04-09 Beckman Coulter, Inc. System for active motion displacement control of a robot
US11504851B2 (en) * 2018-08-20 2022-11-22 The Boeing Company Simulating process forces during robot testing
EP3623113A1 (en) 2018-09-14 2020-03-18 Universal Robots A/S Obtaining the gear stiffness of a robot joint gear of a robot arm
CN109365318B (zh) * 2018-11-30 2021-05-04 天津大学 一种多机器人协作分拣方法及系统
WO2020118244A1 (en) * 2018-12-07 2020-06-11 Activ Surgical, Inc. Mechanical coupling to join two collaborative robots together for means of calibration
GB201820935D0 (en) * 2018-12-21 2019-02-06 Renishaw Plc Manufacturing system and method
CN111376247A (zh) * 2018-12-28 2020-07-07 深圳市优必选科技有限公司 舵机校准方法、舵机校准装置及机器人
JP2022516474A (ja) 2018-12-28 2022-02-28 アクティブ サージカル， インコーポレイテッド 外科手術中の遠隔カメラの向きに関するユーザインターフェース要素
KR20210136975A (ko) 2018-12-28 2021-11-17 액티브 서지컬, 인크. 최소 침습 수술에서의 도달가능성, 작업공간, 및 기민성을 최적화하기 위한 시스템 및 방법
CN109732595B (zh) * 2018-12-29 2021-02-09 深圳市越疆科技有限公司 一种舵机的校准方法、装置及控制器
US11218054B2 (en) 2019-03-28 2022-01-04 Nidec Motor Corporation Motor with rotation sensor
US10576636B1 (en) * 2019-04-12 2020-03-03 Mujin, Inc. Method and control system for and updating camera calibration for robot control
CN113891786B (zh) 2019-04-17 2024-07-12 优傲机器人公司 基于自适应摩擦来控制机器人臂的方法
WO2020214821A1 (en) 2019-04-19 2020-10-22 Activ Surgical, Inc. Systems and methods for trocar kinematics
WO2020239181A1 (en) * 2019-05-29 2020-12-03 Universal Robots A/S Detection of change in contact between robot arm and an object
CN110450165B (zh) * 2019-08-22 2022-07-22 苏州科技大学 一种基于零力控制的机器人标定方法
USD915487S1 (en) 2019-09-07 2021-04-06 Universal Robots A/S Robotic arm
JP7294980B2 (ja) 2019-10-15 2023-06-20 ファナック株式会社 制御システム、制御装置、及びロボット
RU2719207C1 (ru) * 2019-10-17 2020-04-17 Автономная некоммерческая организация высшего образования "Университет Иннополис" Способ калибровки кинематических параметров многостепенных манипуляторов
US12384019B2 (en) 2019-10-22 2025-08-12 Universal Robots A/S Safe activation of free-drive mode of robot arm
DK180508B1 (en) 2019-10-22 2021-06-03 Universal Robots As Maintaining free-drive mode of robot arm for period of time
US12296485B2 (en) 2019-10-22 2025-05-13 Universal Robots A/S Robot arm with adaptive three-dimensional boundary in free-drive
DK180673B1 (en) 2019-12-29 2021-11-25 Universal Robots As Method of obtaining vibrational properties of robot arm
US11602862B2 (en) 2020-03-11 2023-03-14 Energid Technologies Corporation Pneumatic hose assembly for a robot
WO2021228347A1 (en) 2020-05-14 2021-11-18 Universal Robots A/S Input shaping control of a robot arm in different reference spaces
CN111546344A (zh) * 2020-05-18 2020-08-18 北京邮电大学 一种用于对准的机械臂控制方法
WO2022025001A1 (ja) * 2020-07-28 2022-02-03 ファナック株式会社 教示装置、教示システム、及び教示プログラム
LU102199B1 (de) * 2020-11-10 2022-05-10 Nabtesco Prec Europe Gmbh Verfahren und Steuerungsvorrichtung zum Steuern einer Bewegung eines mehrachsigen Roboters
CN112792812A (zh) * 2020-12-02 2021-05-14 配天机器人技术有限公司 机器人控制装置及机器人系统
TW202224872A (zh) 2020-12-28 2022-07-01 財團法人工業技術研究院 機械手臂校正系統及機械手臂校正系統方法
CN117042925A (zh) * 2021-04-29 2023-11-10 Abb瑞士股份有限公司 校准操纵器的方法、控制系统和机器人系统
USD963852S1 (en) * 2021-05-25 2022-09-13 Memic Innovative Surgery Ltd. Controller for medical device
US11911915B2 (en) * 2021-06-09 2024-02-27 Intrinsic Innovation Llc Determining robotic calibration processes
WO2023277736A2 (ru) * 2021-06-30 2023-01-05 Автономная некоммерческая организация высшего образования "Университет Иннополис" Способ определения силы и точки контакта коллаборативного робота с окружающей средой
EP4373570B1 (en) * 2021-07-20 2025-09-24 Mevion Medical Systems, Inc. Gantry having a retractable cover
CN113532353A (zh) * 2021-07-29 2021-10-22 刘慧泉 精密测量装置
EP4390669A4 (en) * 2021-08-20 2025-07-09 Yaskawa Electric Corp ROBOT PROGRAM GENERATION SYSTEM, ROBOT PROGRAM GENERATION METHOD, PROTOCOL CONVERSION DETERMINATION DEVICE, ROBOT PROGRAM, PROTOCOL, AND MANUFACTURING SYSTEM
JP7739113B2 (ja) * 2021-09-29 2025-09-16 株式会社日立ハイテク 放射線治療システム、および、放射線治療システムの運転方法
USD1099187S1 (en) 2022-01-14 2025-10-21 Universal Robots A/S Robot joint
USD1082878S1 (en) 2022-01-14 2025-07-08 Universal Robots A/S Robot joint
CN114734440B (zh) * 2022-04-15 2023-09-05 同济大学 一种混联双臂搬运机器人运动学参数精准标定方法
CN115319727B (zh) * 2022-08-15 2024-10-29 中国科学院宁波材料技术与工程研究所 一种基于位姿约束和力感知的机器人标定方法
CN115488860B (zh) * 2022-09-30 2024-11-12 北京华航唯实机器人科技股份有限公司 基于正向运动学确定并联机器人位置的方法及装置
CN116277147A (zh) * 2022-12-30 2023-06-23 溱者(上海)智能科技有限公司 一种机器人运动学参数辨识工装及辨识方法
US20250144791A1 (en) * 2023-11-02 2025-05-08 The Boeing Company Reduction of Inverse Kinematic Calculation Time

Family Cites Families (98)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE402540B (sv) 1976-08-13 1978-07-10 Asea Ab Forfarande och anordning for att vid en givarstyrd industrirobot astadkomma en approximativ transformation mellan givarens och robotarmens olika koordinatsystem for styrning av roboten inom ett forutbestemt ...
US4398110A (en) 1982-05-05 1983-08-09 Westinghouse Electric Corp. Harmonic electric actuator
US4753569A (en) * 1982-12-28 1988-06-28 Diffracto, Ltd. Robot calibration
JPS6132113A (ja) 1984-07-23 1986-02-14 Seiko Instr & Electronics Ltd ロボツト制御方式
US4817017A (en) 1985-04-08 1989-03-28 Mitsubishi Denki Kabushiki Kaisha Industrial robot
US4678952A (en) 1985-08-13 1987-07-07 Intelledex Incorporated Sealed joint for a robot and the like
US5155423A (en) 1986-02-18 1992-10-13 Robotics Research Corporation Industrial robot with servo
JPH01146645A (ja) 1987-12-03 1989-06-08 Fujitsu Ltd ならい制御方式
JPH02250782A (ja) 1989-03-20 1990-10-08 Fanuc Ltd 産業用ロボットの手動介入方式
DE4108939A1 (de) * 1991-03-19 1992-09-24 Bodenseewerk Geraetetech Verfahren zum kalibrieren von hochgenauen robotern
US5103941A (en) 1991-03-28 1992-04-14 The United States Of America As Represented By The Administrator Of The National Aeronautics & Space Administration Roller locking brake
US5392384A (en) * 1991-04-09 1995-02-21 Kabushiki Kaisha Yaskawa Denki Method of calibrating an industrial robot
JPH05261682A (ja) * 1991-04-09 1993-10-12 Yaskawa Electric Corp 産業用ロボットのキャリブレーション方式
DE69216167T2 (de) 1991-07-06 1997-07-10 Daihen Corp Gerät zur Steuerung eines Industrieroboters zur Durchführung koordinierter Arbeitsvorgänge unter Verwendung eines Playbackteachingverfahrens und dies-bezügliches Verfahren
US5255571A (en) * 1992-06-25 1993-10-26 United Parcel Service Of America, Inc. Three degree of freedom actuator system
JPH06190753A (ja) 1992-12-25 1994-07-12 Fujitsu Ltd ロボット制御装置
US6535794B1 (en) * 1993-02-23 2003-03-18 Faro Technologoies Inc. Method of generating an error map for calibration of a robot or multi-axis machining center
US5293107A (en) 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
US5495410A (en) 1994-08-12 1996-02-27 Minnesota Mining And Manufacturing Company Lead-through robot programming system
SE506517C3 (sv) 1995-06-19 1998-02-05 Jan G Faeger Foerfarande foer inmaetning av objekt och anordning foer aastadkommande av en uppsaettning objekt med kaenda laegen
US6643765B1 (en) 1995-08-16 2003-11-04 Microunity Systems Engineering, Inc. Programmable processor with group floating point operations
KR100214678B1 (ko) * 1996-12-27 1999-08-02 이종수 산업용 로봇의 기준 자세 교정 장치 및 그 방법
JPH10254527A (ja) 1997-03-10 1998-09-25 Kawasaki Heavy Ind Ltd ロボットの教示装置
US6041274A (en) 1997-04-21 2000-03-21 Shinko Electric Co., Ltd. Positional deviation detecting device for a mobile body and position correcting apparatus for a working machine mounted on a mobile body
KR19990029866U (ko) * 1997-12-29 1999-07-26 윤종용 로봇 캘리브레이션 장치
US6070109A (en) 1998-03-10 2000-05-30 Fanuc Robotics North America, Inc. Robot calibration system
US6040109A (en) 1998-03-25 2000-03-21 Agfa-Gevaert, N.V. Method for preparing an image element for making an improved printing plate according to the silver salt diffusion transfer process
US6292715B1 (en) 1998-10-27 2001-09-18 Perry Investments, Inc. Robotic process planning method and apparatus using templates
DE19854011A1 (de) 1998-11-12 2000-05-25 Knoll Alois Einrichtung und Verfahren zum Vermessen von Mechanismen und ihrer Stellung
DE19858154B4 (de) 1998-12-16 2008-01-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren und Einrichtung zur Kalibrierung von bewegbaren Vorrichtungen mit mindestens einem teilweise unbestimmten Geometrieparameter
JP4302830B2 (ja) * 1999-08-09 2009-07-29 川崎重工業株式会社 ロボットのキャリブレーション方法及び装置
JP3326472B2 (ja) 1999-11-10 2002-09-24 独立行政法人 航空宇宙技術研究所 多関節ロボット
US6847922B1 (en) 2000-01-06 2005-01-25 General Motors Corporation Method for computer-aided layout of manufacturing cells
US6837892B2 (en) 2000-07-24 2005-01-04 Mazor Surgical Technologies Ltd. Miniature bone-mounted surgical robot
US6856863B1 (en) * 2000-07-27 2005-02-15 Applied Materials, Inc. Method and apparatus for automatic calibration of robots
GB0023439D0 (en) 2000-09-25 2000-11-08 Avecia Ltd Detection of fluoride
DE10048096A1 (de) 2000-09-28 2002-04-18 Zeiss Carl Verfahren zur Kalibrierung eines messenden Sensors auf einem Koordinatenmeßgerät
JP4670136B2 (ja) 2000-10-11 2011-04-13 ソニー株式会社 オーサリング・システム及びオーサリング方法、並びに記憶媒体
US6519860B1 (en) * 2000-10-19 2003-02-18 Sandia Corporation Position feedback control system
US6442451B1 (en) 2000-12-28 2002-08-27 Robotic Workspace Technologies, Inc. Versatile robot control system
EP1410163A1 (en) 2001-06-29 2004-04-21 Abb Ab A system and a method for user interaction
JP4032410B2 (ja) 2001-11-09 2008-01-16 ソニー株式会社 情報処理システムおよび情報処理方法、プログラムおよび記録媒体、並びに情報処理装置
DE10157174A1 (de) 2001-11-22 2003-06-05 Wolfgang Madlener Verfahren und Vorrichtung zum räumlichen Vermessen von Werkstücken an einer Werkzeugmaschine
US6587752B1 (en) 2001-12-25 2003-07-01 National Institute Of Advanced Industrial Science And Technology Robot operation teaching method and apparatus
AU2003239171A1 (en) 2002-01-31 2003-09-02 Braintech Canada, Inc. Method and apparatus for single camera 3d vision guided robotics
JP3870257B2 (ja) 2002-05-02 2007-01-17 独立行政法人 宇宙航空研究開発機構 オフセット回転関節を有するロボット
JP2004049731A (ja) 2002-07-23 2004-02-19 Yaskawa Electric Corp 肢体駆動装置の教示方法
US7155316B2 (en) * 2002-08-13 2006-12-26 Microbotics Corporation Microsurgical robot system
DE10239694A1 (de) 2002-08-29 2004-03-11 Carl Zeiss Verfahren zur Kalibrierung eines Fräsers
US6996456B2 (en) 2002-10-21 2006-02-07 Fsi International, Inc. Robot with tactile sensor device
JP2004148466A (ja) 2002-10-31 2004-05-27 Yaskawa Electric Corp ロボット制御装置
DE10305384A1 (de) 2003-02-11 2004-08-26 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Visualisierung rechnergestützter Informationen
SE524818C2 (sv) 2003-02-13 2004-10-05 Abb Ab En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt
JP4198511B2 (ja) 2003-04-14 2008-12-17 三菱電機株式会社 動力伝達装置および動力伝達装置の制御方法
US6704619B1 (en) 2003-05-24 2004-03-09 American Gnc Corporation Method and system for universal guidance and control of automated machines
WO2004108365A1 (ja) 2003-06-02 2004-12-16 Honda Motor Co., Ltd. 多関節ロボットのティーチングデータ作成方法
US6822412B1 (en) * 2003-06-11 2004-11-23 Zhongxue Gan Method for calibrating and programming of a robot application
DE10336213A1 (de) 2003-08-07 2005-03-03 Ekkehard Alschweig Verfahren zur Genauigkeits-Selbstüberprüfung einer Hochpräzisions-Werkzeugmaschine
JP3708097B2 (ja) 2003-10-08 2005-10-19 ファナック株式会社 ロボットの手動送り装置
JP2005148789A (ja) 2003-11-11 2005-06-09 Fanuc Ltd 音声入力によるロボット教示プログラム編集装置
SE0303145D0 (sv) * 2003-11-23 2003-11-23 Abb Research Ltd Method for optimising the performance of a robot
ES2303131T3 (es) * 2003-12-16 2008-08-01 Abb Ab Manipulador cinematico paralelo para espacios de trabajo grandes.
US8160205B2 (en) 2004-04-06 2012-04-17 Accuray Incorporated Robotic arm for patient positioning assembly
JP3946711B2 (ja) * 2004-06-02 2007-07-18 ファナック株式会社 ロボットシステム
DE102004026813A1 (de) * 2004-06-02 2005-12-29 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern von Handhabungsgeräten
US20060125806A1 (en) 2004-09-27 2006-06-15 The Regents Of The University Of Minnesota Human-activated displacement control appliance for use with computerized device/mechanism
JP2006099474A (ja) 2004-09-29 2006-04-13 Fanuc Ltd ロボットの軌跡制御方法
US7904202B2 (en) * 2004-10-25 2011-03-08 University Of Dayton Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination
WO2006055770A2 (en) 2004-11-19 2006-05-26 Dynalog, Inc. Robot cell calibration
JP5000893B2 (ja) 2005-01-27 2012-08-15 日立オートモティブシステムズ株式会社 電動ブレーキ制御装置及び電動ブレーキ制御方法
US20060178775A1 (en) 2005-02-04 2006-08-10 George Zhang Accelerometer to monitor movement of a tool assembly attached to a robot end effector
US7643907B2 (en) 2005-02-10 2010-01-05 Abb Research Ltd. Method and apparatus for developing a metadata-infused software program for controlling a robot
DE102005008055B4 (de) 2005-02-22 2009-01-02 Deckel Maho Pfronten Gmbh Verfahren zum Vermessen einer programmgesteuerten Werkzeugmaschine
WO2006089887A2 (en) * 2005-02-28 2006-08-31 Abb Ab A system for calibration of an industrial robot and a method thereof
EP1724676A1 (en) 2005-05-20 2006-11-22 ABB Research Ltd. Method and apparatus for developing a software program
GB0513899D0 (en) * 2005-07-06 2005-08-10 Airbus Uk Ltd Program-controlled process
ES2963735T3 (es) 2006-03-03 2024-04-01 Universal Robots As Articulación para un robot
US8301421B2 (en) 2006-03-31 2012-10-30 Energid Technologies Automatic control system generation for robot design validation
US7853356B2 (en) * 2006-04-14 2010-12-14 Fanuc Robotics America, Inc. Method for optimizing a robot program and a robot system
JP4960038B2 (ja) * 2006-08-09 2012-06-27 オークマ株式会社 パラレルメカニズム機械の制御方法及び制御装置
DE102006061752A1 (de) 2006-12-28 2008-07-03 Kuka Roboter Gmbh Roboter und Verfahren zum Programmieren eines Roboters
JP4298757B2 (ja) 2007-02-05 2009-07-22 ファナック株式会社 ロボット機構のキャリブレーション装置及び方法
JP2010526590A (ja) 2007-05-07 2010-08-05 レイセオン・サルコス・エルエルシー 複合構造物を製造するための方法
JP5285701B2 (ja) 2007-07-10 2013-09-11 レイセオン カンパニー モジュール式ロボットクローラ
GB0713639D0 (en) 2007-07-13 2007-08-22 Renishaw Plc Error correction
US8457790B2 (en) * 2007-09-14 2013-06-04 Zimmer, Inc. Robotic calibration method
US8166664B2 (en) * 2007-09-14 2012-05-01 Hexagon Metrology S.P.A. Method of aligning arm reference system of a multiple-arm measurement machine
CN101998895B (zh) 2008-02-20 2013-05-29 Abb研究有限公司 用于优化机器人工作单元的布局的方法和系统
EP2258521B1 (en) 2008-02-28 2015-08-19 Panasonic Intellectual Property Management Co., Ltd. Control apparatus and control method for a robot arm, robot, control program for a robot arm, and electronic integrated circuit for controlling a robot arm
NL1036673A1 (nl) * 2008-04-09 2009-10-12 Asml Holding Nv Robot Position Calibration Tool (RPCT).
FR2930472B1 (fr) * 2008-04-24 2010-08-13 Univ Havre Robot manipulateur et commande associee pour un positionnement fin de l'extremite terminale
DE102008027008B4 (de) 2008-06-06 2016-03-17 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern eines Manipulators
US8457786B2 (en) 2008-11-25 2013-06-04 Abb Technology Ltd Method and an apparatus for calibration of an industrial robot system
US8386070B2 (en) 2009-03-18 2013-02-26 Intelligent Hospital Systems, Ltd Automated pharmacy admixture system
DE102009023307A1 (de) 2009-05-29 2010-12-02 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Steuerung eines Manipulators
US8340820B2 (en) 2010-02-26 2012-12-25 Agilent Technologies, Inc. Robot arm and method of controlling robot arm to avoid collisions
EP2453325A1 (en) 2010-11-16 2012-05-16 Universal Robots ApS Method and means for controlling a robot
KR102050895B1 (ko) 2011-09-28 2020-01-08 유니버셜 로보츠 에이/에스 로봇의 캘리브레이션 및 프로그래밍

Also Published As

Publication number Publication date
DK2796249T3 (en) 2016-03-07
KR102050895B1 (ko) 2020-01-08
EP2760642B1 (en) 2015-11-18
RU2014107813A (ru) 2015-11-10
EP2796249B1 (en) 2015-12-30
SG10201502615QA (en) 2015-05-28
MX2014003540A (es) 2014-09-12
CN103889663B (zh) 2016-09-28
KR20140084062A (ko) 2014-07-04
SG11201400923QA (en) 2014-04-28
EP2760642A1 (en) 2014-08-06
MX343142B (es) 2016-10-26
US20160136805A1 (en) 2016-05-19
RU2605393C2 (ru) 2016-12-20
EP2796249A1 (en) 2014-10-29
DK2760642T3 (en) 2016-01-11
US9248573B2 (en) 2016-02-02
US9833897B2 (en) 2017-12-05
BR112014007077A2 (pt) 2017-04-11
CN104991518A (zh) 2015-10-21
JP2014527920A (ja) 2014-10-23
US20130079928A1 (en) 2013-03-28
WO2013045314A1 (en) 2013-04-04
CN103889663A (zh) 2014-06-25
CN104991518B (zh) 2018-10-09

Similar Documents

Publication Publication Date Title
JP6182143B2 (ja) ロボットの較正およびプログラミング
RU2672654C2 (ru) Способ и система для определения по меньшей мере одного свойства манипулятора
CN109196429B (zh) 用于确定操纵器的几何特性的方法、约束装置和系统
US20200298411A1 (en) Method for the orientation of an industrial robot, and industrial robot
CN110253574B (zh) 一种多任务机械臂位姿检测和误差补偿方法
WO2018196232A1 (zh) 机器人和末端执行器的自动标定方法及系统
KR100644174B1 (ko) 로봇 용접의 보정방법
Ryu et al. A new method for fully autonomous calibration of parallel manipulators using a constraint link
Maier et al. Whole-body self-calibration via graph-optimization and automatic configuration selection
Bonnet et al. Practical whole-body elasto-geometric calibration of a humanoid robot: Application to the TALOS robot
JP7496936B2 (ja) 異なる座標フレーム間の制約を用いた較正の最適化
Zheng et al. Self-Calibration of cable driven continuum robot
Zhang et al. Online robot auto-calibration using IMU with CMAC and EKF
Lu et al. Robot calibration using relative measurements
Ji et al. A new pose measuring and kinematics calibrating method for manipulators
Detert et al. Self-Calibration for an Object Integrative Handling System
JP2024157089A (ja) 多軸機構の位置決め装置、方法及びプログラム
HK1224987A1 (en) Method and system for determination of at least one property of a manipulator
Navvabi et al. Calibration of Stewart-Gough Parallel Robot with Minimum Sensor and Position Control in Joint Space
HK1224987B (en) Method and system for determination of at least one property of a manipulator
Sallinen et al. Sensing Planning of Calibration Measurements for Intelligent Robots
Gan et al. Robot kinematic calibration

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20140326

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20150915

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20150915

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20160707

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20160802

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160930

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20170210

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20170704

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20170721

R150 Certificate of patent or registration of utility model

Ref document number: 6182143

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250