KR101452437B1 - Method for setting the mobile manipulator onto the workbench - Google Patents

Method for setting the mobile manipulator onto the workbench Download PDF

Info

Publication number
KR101452437B1
KR101452437B1 KR1020140017482A KR20140017482A KR101452437B1 KR 101452437 B1 KR101452437 B1 KR 101452437B1 KR 1020140017482 A KR1020140017482 A KR 1020140017482A KR 20140017482 A KR20140017482 A KR 20140017482A KR 101452437 B1 KR101452437 B1 KR 101452437B1
Authority
KR
South Korea
Prior art keywords
error
axis
laser beams
mobile manipulator
mobile
Prior art date
Application number
KR1020140017482A
Other languages
Korean (ko)
Inventor
최태용
도현민
박찬훈
박동일
경진호
Original Assignee
한국기계연구원
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 한국기계연구원 filed Critical 한국기계연구원
Priority to KR1020140017482A priority Critical patent/KR101452437B1/en
Application granted granted Critical
Publication of KR101452437B1 publication Critical patent/KR101452437B1/en

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/022Optical sensing devices using lasers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/04Viewing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1615Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162Mobile manipulator, movable base with manipulator arm mounted on it
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • YGENERAL 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
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00Robots
    • Y10S901/01Mobile robot

Abstract

The present invention relates to a method of setting a workbench of a mobile manipulator, which improves a work accuracy of a robot system by guiding the mobile manipulator to be fixed to a work position of the workbench. The method of setting a workbench of a mobile manipulator includes: moving a mobile manipulator to a workbench; irradiating a plurality of first laser beams in a downward direction from the workbench, and irradiating a plurality of second laser beams toward the mobile manipulator from the workbench; receiving the first laser beams through a first camera installed on an upper part of the mobile base and receiving the second laser beams through a second camera installed at a side of the mobile manipulator; obtaining a yaw error of an X-axis error of left and right directions, a Y-axis error of forward and backward directions and a Z-axis error of upward and downward directions by comparing a pattern image of the received first laser beams and a pattern image of a predetermined first laser beams, and obtaining a pitch error of the Z-axis error, the Y-axis error and the X-axis error by comparing a pattern image of the received second laser beams and a pattern image of a predetermined second laser beams; and correcting a work position of the mobile manipulator based on the obtained error values.

Description

[0001] The present invention relates to a mobile manipulator,
The present invention relates to a method for setting a mobile manipulator to a working position of a work platform and more particularly to a method for setting a mobile manipulator to a working position of a work table, And correcting the operation position of the mobile manipulator through the obtained error value, thereby improving the work precision of the robot system.
Generally, robots are developed to maximize work efficiency by promoting human safety through industrial development and being put into hard work such as human being. In particular, robots are widely used in fields requiring high precision and high risk, and can be classified into a robot that operates in a fixed state and a robot that moves in accordance with a working position.
Fixed robots are mainly used to move objects to move from a specific position to another position with the same operation as a human arm, and a mobile robot is used for a main purpose of moving an article in a short distance or a long distance .
Such robots have functions similar to those of a human upper limb and are also called manipulators because they work to move objects by gripping objects by mechanical hand or the like corresponding to the extremities of the robot.
On the other hand, since the conventional manipulator has been used mainly in the field of processing work in a limited work space, the accuracy of recognizing the manipulator's working position is not so important. However, since the current manipulator carries out various tasks while moving, it is important to set the manipulator to the working position after moving the manipulator correctly when the manipulator commands the manipulator in an environment.
Accordingly, when the manipulator is set to the working position of the workbench, the error value is measured as to how much the manipulator is shifted in the yaw direction with respect to the X axis, the Y axis, and the Z axis from the working position, The manipulator is moved in the X-axis, the Y-axis, and the Yaw direction by an error value measured through the mobile base disposed at the lower side of the manipulator, thereby setting the manipulator to the working position.
However, when the manipulator is set on the workbench by moving the mobile base as described above, since the position can not be corrected by the three-dimensional space (Z, Pitch, Roll), the accuracy of the moving platform is lowered, .
Accordingly, in order to improve the working accuracy of the robot system, it is necessary to acquire error values for the Z axis, the pitch direction, and the roll direction as well as the error values for the X axis, Y axis, and Yaw direction A method of correcting the operation position of the manipulator by an error value obtained by the above method is needed.
Published Patent Application No. 10-2002-0014573 (published Feb. 25, 2002)
The present invention provides a method of setting a work table of a mobile manipulator, which can improve a work precision of a robot system by setting a mobile manipulator to a working position of a work table.
According to another aspect of the present invention, there is provided a method for setting a work table of a mobile manipulator, the method comprising: moving a mobile manipulator to a work table; Irradiating a plurality of first laser beams downward from the workbench and irradiating a plurality of second laser beams from the workbench toward the mobile manipulator; Receiving the first laser beams through a first camera mounted on the mobile base and receiving the second laser beams through a second camera mounted on one side of the mobile manipulator; The pattern image of the first laser beams received is compared with the pattern image of the first laser beams set in advance, so that the X-axis error in the lateral direction, the Y-axis error in the front-rear direction, the Yaw error And compares the pattern image of the received second laser beams with the pattern image of the preset second laser beams to calculate a Z axis error, a roll error with respect to the Y axis, and a pitch error value with respect to the X axis Obtaining; And correcting a working position of the mobile manipulator based on the obtained error values.
According to the present invention, it is possible to automatically control the position and operation of the mobile manipulator according to the work position on the workbench, even after moving the mobile manipulator from the workbench. Accordingly, the reference coordinate system does not change during the operation of the mobile manipulator, and the working precision of the robot system can be improved.
Further, based on the result of comparing the pattern image of the laser beams with the pattern image of the preset laser beams through the relatively inexpensive laser receiving camera, the error value in the X axis, Y axis, and Yaw direction as well as Z It is possible to correct the operating position of the mobile manipulator by an error value obtained by obtaining an error value with respect to an axis, a pitch direction, and a roll direction, thereby enabling high-precision position control with a small cost
1 is a block diagram illustrating a method for setting a workbench of a mobile manipulator according to an embodiment of the present invention.
Fig. 2 is a view of the work station fixing device of the mobile manipulator for implementing the method of setting the work platform of the mobile manipulator in Fig. 1; Fig.
FIG. 3 is a diagram for explaining a process for setting a work position of a mobile base in FIG. 2;
FIG. 4 is a diagram for explaining a process for controlling the operating positions of both arms of the mobile manipulator in FIG. 2;
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a block diagram for explaining a method of setting a work table of a mobile manipulator according to an embodiment of the present invention, and FIG. 2 is a view illustrating a work table fixing device of a mobile manipulator for implementing a method of setting a work table of the mobile manipulator. Here, the workstation setting method 100 of the mobile manipulator is used to improve the working accuracy of the robot system by guiding the mobile manipulator to be fixed to the work position on the work platform.
1 and 2, a method 100 for setting a workstation of a mobile manipulator includes moving a mobile manipulator to a workbench 110, irradiating the first and second laser beams 120, 1) receiving laser beams 130, obtaining an error value of the first and second laser beams 140, and correcting the working position of the mobile manipulator. Here, the mobile manipulator 10 has a function similar to that of a human upper limb, and has a minimum of six (6) points so as to perform an operation of holding an object by a mechanical hand corresponding to the extremity thereof and spatially moving the object. Axis.
In step 110 of moving the mobile manipulator to the workbench, the mobile manipulator 10 is moved to the workbench 20 by moving the mobile base 30 disposed below the mobile manipulator. At this time, the movement of the mobile base 30 can be generally performed by using an Indoor GPS, an IR sensor, a LRF sensor, a vision sensor, and the like, which are used in a mobile type mobile manipulator. As the mobile base 30 moves, the mobile manipulator 10 disposed on the mobile base 30 moves with the mobile base 30. [ Here, the method of moving the mobile base 30 onto the workbench 20 is a known technique and will not be described.
The step 120 of irradiating the first and second laser beams irradiates a plurality of first laser beams 121 downward from the work table 20 and irradiates a plurality of second laser beams 121 from the work table 20 toward the mobile manipulator 10, And irradiates the laser beams 122. At this time, the first and second laser beams 121 and 122 may be spot-shaped laser beams. At least four or more first laser beams 121 are formed to form a rectangular pattern. 122 may be spaced apart in the Z-axis direction and irradiated at least two or more times.
In the step 130 of receiving the first and second laser beams, the first laser beams 121 are received through the first camera 131 mounted on the mobile base 30, and the first laser beams 121 are received on one side of the mobile manipulator 10 And receives the second laser beams 122 through the mounted second camera 132.
In the step 140 of obtaining the error values of the first and second laser beams, the pattern image of the first laser beams 121 is compared with the pattern image of the first laser beams 121, Axis direction Y-axis error and the Y-axis error in the vertical direction Z-axis are obtained, and the pattern image of the received second laser beams 122 and the predetermined second laser beams 122 The pattern images are compared to obtain a Z-axis error, a roll error with respect to the Y-axis, and a pitch error value with respect to the X-axis. Here, the step 140 of obtaining the error values of the first and second laser beams is a process of calculating a pitch error with respect to the X axis after controlling the yaw error to 0 when the roll error is not zero And a specific procedure will be described later.
The pattern image of the first laser beams 121 is transmitted to the first camera 131 when the mobile manipulator 10 is fixed and fixed to the working position of the workbench 20 And the pattern image of the predetermined second laser beams 122 is the image stored in the second laser beam 122 when the mobile manipulator 10 is fixed and fixed at the working position of the workbench 20 122 are received through the second camera 132 and stored as a pattern image.
In the step 150 of correcting the working position of the mobile manipulator, the position of the mobile manipulator 10 is corrected based on the obtained error values.
The step 150 of correcting the working position of the mobile manipulator with reference to FIGS. 3 and 4 will now be described in more detail. Here, for convenience, the pattern image of the first and second laser beams 121 and 122 is denoted by "", and the pattern image of the first and second laser beams set in advance is denoted by"
First, the step of correcting the working position of the mobile manipulator 150 includes comparing the X-axis error, the Y-axis error, and the yaw error obtained from the step 140 of obtaining the error values of the first and second linear laser beams, (30).
For example, when the pattern image (?) Of the received first laser beams and the pattern image (?) Of the preset first laser beams are as shown in FIG. 3, the points p5 and r5 Measure the error between the X and Y axes. That is, after measuring the distance that the point r5 is shifted from the preset point p5 to the X axis and the Y axis direction, the mobile base 30 is moved in the X axis direction and the Y axis direction to the position where the point r5 and the point p5 coincide with each other .
The first imaginary line L1 is formed by virtually connecting the points p1 and p2 arranged in the X axis direction and the second imaginary line L2 is formed by virtually connecting the points r1 and r2, ) Is measured with respect to the Z axis. That is, after measuring the angle at which the second virtual line L2 is inclined from the first virtual line L1, the angle between the first virtual line L1 and the second virtual line L2 The mobile base 30 is rotated in the yaw direction with respect to the Z axis.
Accordingly, since the mobile base 30 moves in the X-axis, the Y-axis, and the yaw direction according to the error value obtained from the step 140 of obtaining the error values of the first and second laser beams, Is moved to the working position of the work table 20 and set.
Then, during the operation of the mobile manipulator 10, the operation position of the robot arm is adjusted by the Z-axis error, the roll error, and the pitch error obtained from the step 140 of obtaining the error values of the first and second laser beams .
For example, when the pattern image (?) Of the second laser beams and the pattern image (?) Of the preset second laser beams are as shown in FIG. 4, the center point mz between the preset points z1 and z2, The center point mrz of the points rz1 and rz2 are compared and the error in the Z-axis direction is measured. That is, after measuring the distance of mrz from the preset point mz in the Z-axis direction, the measured position is controlled so that the measured value can be increased or decreased during operation of the robot arm.
The third imaginary line L3 is formed by virtually connecting the points z1 and z2 arranged in the Z axis direction and the fourth imaginary line L4 is created by imagining the points rz1 and rz2 and then the third imaginary line L3 ) Is measured based on the Y axis. That is, after measuring the angle of how much the fourth imaginary line L4 is tilted from the predetermined third virtual line L3, the measured value is moved to the operation position .
On the other hand, when the yaw error is zero, the pitch error with respect to the X axis is calculated by multiplying the line length Dy of the first laser beam in the Y axis direction previously set and the line length Ry of the first laser beam in the Y axis direction actually received Quot; Ry = cos? * Dy "
When the roll error with respect to the Y axis is 0, that is, when the mobile manipulator 10 is positioned in the Z-axis direction, the line length Dz of the second laser beam in the Z- Quot; Rz = cos? * Dz "relation with respect to the line length Rz of the second laser beam,
The pitch error for the X axis can be obtained by controlling the yaw error to 0 when the roll error is zero or the roll error is not zero. That is, if the roll error is zero, the difference between the length of Ry, which is the line of the second laser beam in the Y axis direction actually received, and the length of Dy, which is the line of the second laser beam previously set, is measured, And controls the operation position so that the operation can be performed.
When the roll error is not zero, the control is performed so that the yaw error is zero, and the difference between the length of Ry, which is the line of the second laser beam in the Y axis direction actually received, and the length of Dy, And then controls the operation position so that the measured value can be increased or decreased during operation of the robot arm.
Accordingly, the mobile base 30 deviating from the working position of the workbench 20 can be moved on the two-dimensional plane image (X, Y, Yaw) and the three-dimensional space Z The robot manipulator 10 can be accurately set to the work position of the workbench, so that the work precision of the robot system can be improved. Can be improved.
Another embodiment of the step of correcting the working position of the mobile manipulator will be described with reference to FIGS. 3 and 4. FIG. In the present embodiment, the differences from the above-described embodiment will be mainly described.
The step 250 of calibrating the working position of the mobile manipulator may include calculating the operating position of the robotic arm in the operation of the mobile manipulator 10 using the X axis obtained from the step 140 of obtaining the error values of the first and second laser beams And correcting the operating position by adding and subtracting the error, the Y-axis error, the Z-axis error, the yaw error, the roll error, and the pitch error. That is, the mobile base 30 merely moves the mobile manipulator 10, and the X, Y, Z, Yaw, and Roll obtained from the step 140 of obtaining the error values of the first and second laser beams And the error values in the pitch direction are controlled to be increased or decreased during the operation of the arm of the mobile manipulator 10, thereby improving the working precision of the mobile manipulator 10. [
As described above, the method for setting the workstation 100 of the mobile manipulator 10 automatically sets the position and the operation of the mobile manipulator 10 to the working position on the workbench 20 even after the mobile manipulator 10 is moved from the workbench 20 It becomes possible to control. Accordingly, the reference coordinate system does not change during the operation of the mobile manipulator 10, and the working precision of the robot system can be improved.
Further, it is possible to control both the mobile base 30 and both the arms of the mobile manipulator 10 based on the result of comparing the pattern image of the laser beams with the pattern image of the preset laser beams through the relatively inexpensive laser receiving camera So that it is possible to perform position control with high accuracy at low cost.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation and that those skilled in the art will recognize that various modifications and equivalent arrangements may be made therein. It will be possible. Accordingly, the true scope of protection of the present invention should be determined only by the appended claims.
10. Mobile manipulator
20. Workbench
30 .. Mobile Base
100 .. How to set the workbench of the mobile manipulator
121. The first laser beam
122. The second laser beam
131 .. First camera
132 .. Second camera

Claims (5)

  1. A method for fixing a mobile manipulator equipped with a robot on a mobile base to a working position of a workbench,
    Moving the mobile manipulator to a workbench;
    Irradiating at least four or more first laser beams downward from the workbench to form a rectangular pattern and irradiating at least two second laser beams spaced apart from the workbench in the Z-axis direction toward the mobile manipulator;
    Receiving the first laser beams through a first camera mounted on the mobile base and receiving the second laser beams through a second camera mounted on one side of the mobile manipulator;
    The pattern image of the first laser beams received is compared with the pattern image of the first laser beams set in advance, so that the X-axis error in the lateral direction, the Y-axis error in the front-rear direction, the Yaw error And compares the pattern image of the received second laser beams with the pattern image of the preset second laser beams to calculate a Z axis error, a roll error with respect to the Y axis, and a pitch error value with respect to the X axis Obtaining; And
    Correcting a working position of the mobile manipulator based on the obtained error values;
    Wherein the mobile manipulator is a mobile manipulator.
  2. The method according to claim 1,
    Wherein the step of acquiring the error values of the first and second laser beams comprises:
    And calculating a pitch error with respect to the X axis after controlling the yaw error to be 0 when the roll error is not zero.
  3. 3. The method according to claim 1 or 2,
    The step of correcting the working position of the mobile manipulator comprises:
    Shifting the mobile base by the X-axis error, the Y-axis error, and the yaw error;
    And correcting the operation position of the robot arm by adding or subtracting the Z-axis error, the roll error, and the pitch error during operation of the mobile manipulator.
  4. 3. The method according to claim 1 or 2,
    The step of correcting the working position of the mobile manipulator comprises:
    And correcting the operation position of the robot arm by adding and subtracting the X-axis error, the Y-axis error, the Z-axis error, the yaw error, the roll error, and the pitch error during operation of the mobile manipulator Characterized in that the mobile manipulator is mounted on a work platform.
  5. delete
KR1020140017482A 2014-02-14 2014-02-14 Method for setting the mobile manipulator onto the workbench KR101452437B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020140017482A KR101452437B1 (en) 2014-02-14 2014-02-14 Method for setting the mobile manipulator onto the workbench

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020140017482A KR101452437B1 (en) 2014-02-14 2014-02-14 Method for setting the mobile manipulator onto the workbench

Publications (1)

Publication Number Publication Date
KR101452437B1 true KR101452437B1 (en) 2014-11-04

Family

ID=52288986

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020140017482A KR101452437B1 (en) 2014-02-14 2014-02-14 Method for setting the mobile manipulator onto the workbench

Country Status (1)

Country Link
KR (1) KR101452437B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106020207A (en) * 2016-07-26 2016-10-12 广东宝乐机器人股份有限公司 Self-moving robot walking method and device
WO2019228438A1 (en) * 2018-06-01 2019-12-05 浙江亚特电器有限公司 Obstacle self-learning method and new obstacle self-learning method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100552438B1 (en) * 2004-01-09 2006-02-20 (주)다사테크 Mobile Robot Charging Station Search Method
KR100854653B1 (en) * 2006-05-12 2008-08-27 주식회사 한울로보틱스 Localization system of the mobile robot using the charging station
KR100902115B1 (en) * 2006-12-02 2009-06-09 한국전자통신연구원 Apparatus and method for automatic robot recharging with a camera and non-visible light sensors
JP2012056044A (en) * 2010-09-10 2012-03-22 Toyota Motor Corp Robot and method for controlling the same

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100552438B1 (en) * 2004-01-09 2006-02-20 (주)다사테크 Mobile Robot Charging Station Search Method
KR100854653B1 (en) * 2006-05-12 2008-08-27 주식회사 한울로보틱스 Localization system of the mobile robot using the charging station
KR100902115B1 (en) * 2006-12-02 2009-06-09 한국전자통신연구원 Apparatus and method for automatic robot recharging with a camera and non-visible light sensors
JP2012056044A (en) * 2010-09-10 2012-03-22 Toyota Motor Corp Robot and method for controlling the same

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106020207A (en) * 2016-07-26 2016-10-12 广东宝乐机器人股份有限公司 Self-moving robot walking method and device
WO2019228438A1 (en) * 2018-06-01 2019-12-05 浙江亚特电器有限公司 Obstacle self-learning method and new obstacle self-learning method

Similar Documents

Publication Publication Date Title
US9895810B2 (en) Cooperation system having machine tool and robot
US10112301B2 (en) Automatic calibration method for robot systems using a vision sensor
US8706300B2 (en) Method of controlling a robotic tool
US9519736B2 (en) Data generation device for vision sensor and detection simulation system
EP2446223B1 (en) Information processing apparatus, information processing method, and corresponding program
US8310539B2 (en) Calibration method and calibration device
EP1555508A1 (en) Measuring system
CN107186714B (en) A kind of accurate positioning method, positioning system and robot device
EP2070664A1 (en) Object processing system
KR101452437B1 (en) Method for setting the mobile manipulator onto the workbench
KR101469205B1 (en) Method for setting the mobile manipulator onto the workbench
US8761936B2 (en) Teaching line correcting apparatus, teaching line correcting method, and program thereof
JP6088190B2 (en) Processing system and processing method thereof
US20190129400A1 (en) Robot, robot system, and method for setting coordinate system of robot
JP6031368B2 (en) Correlation positioning method with workpiece
TWM490934U (en) Scraping device applying robot arm having multiple degrees of freedom
TW201816531A (en) Numerically controlled machine tool with spatial positional error compensation
JP6228905B2 (en) Work robot installation status detection method
CN106670892A (en) Automatic position adjustment system
JP2019063954A (en) Robot system, calibration method and calibration program
KR100640743B1 (en) A calibration equipment of laser vision system for 6-axis robot
Huang et al. Robotic hand-eye calibration based on active vision
KR101503304B1 (en) Method for setting position of lug welding robot using laser pointer
Liu et al. An automated method to calibrate industrial robot kinematic parameters using Spherical Surface constraint approach
JP2016187851A (en) Calibration device

Legal Events

Date Code Title Description
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20170907

Year of fee payment: 4