KR102220173B9 - 로봇 비전 시스템을 위한 자동 캘리브레이션 방법 및 장치 - Google Patents

로봇 비전 시스템을 위한 자동 캘리브레이션 방법 및 장치

Info

Publication number
KR102220173B9
KR102220173B9 KR1020200055963A KR20200055963A KR102220173B9 KR 102220173 B9 KR102220173 B9 KR 102220173B9 KR 1020200055963 A KR1020200055963 A KR 1020200055963A KR 20200055963 A KR20200055963 A KR 20200055963A KR 102220173 B9 KR102220173 B9 KR 102220173B9
Authority
KR
South Korea
Prior art keywords
vision system
calibration method
automatic calibration
robot vision
robot
Prior art date
Application number
KR1020200055963A
Other languages
English (en)
Other versions
KR102220173B1 (ko
Inventor
박종훈
강준수
Original Assignee
주식회사 뉴로메카
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 KR1020190138460A external-priority patent/KR102111655B1/ko
Application filed by 주식회사 뉴로메카 filed Critical 주식회사 뉴로메카
Priority to KR1020200055963A priority Critical patent/KR102220173B1/ko
Priority to PCT/KR2020/015028 priority patent/WO2021086108A1/ko
Priority to US17/772,074 priority patent/US11642789B2/en
Priority to EP20881234.7A priority patent/EP4052861A4/en
Application granted granted Critical
Publication of KR102220173B1 publication Critical patent/KR102220173B1/ko
Publication of KR102220173B9 publication Critical patent/KR102220173B9/ko

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
    • B25J9/1679—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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1648—Programme controls characterised by the control loop non-linear control combined or not with linear 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector
    • 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
    • G05B2219/39016—Simultaneous calibration of manipulator and camera
    • 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
    • G05B2219/39045—Camera on end effector detects reference pattern
    • 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
    • G05B2219/39057—Hand eye calibration, eye, camera on hand, end effector
KR1020200055963A 2019-11-01 2020-05-11 로봇 비전 시스템을 위한 자동 캘리브레이션 방법 및 장치 KR102220173B1 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
KR1020200055963A KR102220173B1 (ko) 2019-11-01 2020-05-11 로봇 비전 시스템을 위한 자동 캘리브레이션 방법 및 장치
PCT/KR2020/015028 WO2021086108A1 (ko) 2019-11-01 2020-10-30 로봇 비전 시스템을 위한 자동 캘리브레이션 방법 및 장치
US17/772,074 US11642789B2 (en) 2019-11-01 2020-10-30 Automatic calibration method and device for robot vision system
EP20881234.7A EP4052861A4 (en) 2019-11-01 2020-10-30 AUTOMATIC CALIBRATION METHOD AND DEVICE FOR ROBOT VISION SYSTEM

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020190138460A KR102111655B1 (ko) 2019-11-01 2019-11-01 로봇 비전 시스템을 위한 자동 캘리브레이션 방법 및 장치
KR1020200055963A KR102220173B1 (ko) 2019-11-01 2020-05-11 로봇 비전 시스템을 위한 자동 캘리브레이션 방법 및 장치

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020190138460A Division KR102111655B1 (ko) 2019-11-01 2019-11-01 로봇 비전 시스템을 위한 자동 캘리브레이션 방법 및 장치

Publications (2)

Publication Number Publication Date
KR102220173B1 KR102220173B1 (ko) 2021-02-25
KR102220173B9 true KR102220173B9 (ko) 2022-01-17

Family

ID=75718775

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020200055963A KR102220173B1 (ko) 2019-11-01 2020-05-11 로봇 비전 시스템을 위한 자동 캘리브레이션 방법 및 장치

Country Status (4)

Country Link
US (1) US11642789B2 (ko)
EP (1) EP4052861A4 (ko)
KR (1) KR102220173B1 (ko)
WO (1) WO2021086108A1 (ko)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117226853B (zh) * 2023-11-13 2024-02-06 之江实验室 一种机器人运动学标定的方法、装置、存储介质、设备

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR0165435B1 (ko) * 1995-09-13 1999-03-20 김광호 비젼 시스템의 카메라 취부 및 보정 방법
KR100207722B1 (ko) * 1997-03-25 1999-07-15 윤종용 위치 제어 시스템의 캘리브레이션 방법
KR100468857B1 (ko) * 2002-11-21 2005-01-29 삼성전자주식회사 2차원 형상에 대한 투사 불변형 표현자를 이용한핸드/아이 캘리브레이션 방법
KR101622659B1 (ko) 2009-10-29 2016-05-20 대우조선해양 주식회사 로봇과 레이저 비전 시스템 간의 캘리브레이션 방법
KR101465652B1 (ko) 2013-04-12 2014-11-28 성균관대학교산학협력단 로봇 핸드와 로봇 핸드에 부착된 카메라의 캘리브레이션 방법 및 장치
JP6468741B2 (ja) * 2013-07-22 2019-02-13 キヤノン株式会社 ロボットシステム及びロボットシステムの校正方法
JP6429473B2 (ja) * 2014-03-20 2018-11-28 キヤノン株式会社 ロボットシステム、ロボットシステムの校正方法、プログラム、およびコンピュータ読み取り可能な記録媒体
US10076842B2 (en) * 2016-09-28 2018-09-18 Cognex Corporation Simultaneous kinematic and hand-eye calibration
US10625427B2 (en) * 2017-06-14 2020-04-21 The Boeing Company Method for controlling location of end effector of robot using location alignment feedback
KR101988937B1 (ko) * 2017-09-07 2019-06-13 주식회사 인지 카메라와 로봇 핸드의 캘리브레이션 방법 및 장치
KR102111655B1 (ko) * 2019-11-01 2020-06-04 주식회사 뉴로메카 로봇 비전 시스템을 위한 자동 캘리브레이션 방법 및 장치

Also Published As

Publication number Publication date
WO2021086108A1 (ko) 2021-05-06
US11642789B2 (en) 2023-05-09
EP4052861A4 (en) 2023-11-29
EP4052861A1 (en) 2022-09-07
US20220379483A1 (en) 2022-12-01
KR102220173B1 (ko) 2021-02-25

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