KR20150076510A - Method and device for calibrating original point of robot - Google Patents

Method and device for calibrating original point of robot Download PDF

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Publication number
KR20150076510A
KR20150076510A KR1020130164783A KR20130164783A KR20150076510A KR 20150076510 A KR20150076510 A KR 20150076510A KR 1020130164783 A KR1020130164783 A KR 1020130164783A KR 20130164783 A KR20130164783 A KR 20130164783A KR 20150076510 A KR20150076510 A KR 20150076510A
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South Korea
Prior art keywords
value
position sensor
origin
robot
correction
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KR1020130164783A
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Korean (ko)
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전유인
김영수
김종철
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주식회사 케이티
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Priority to KR1020130164783A priority Critical patent/KR20150076510A/en
Publication of KR20150076510A publication Critical patent/KR20150076510A/en

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    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention discloses a method and apparatus for correcting the origin of a robot. A method of correcting a reference point of a robot in an apparatus for correcting a reference point of a robot including a joint where a position sensor is assembled according to an aspect of the present invention is characterized by moving the joint to a mechanism limit surface of the - A first correction step of storing the position sensor value of the estimated origin position value, calculating the estimated origin position value using the stored position sensor value, and then moving the joint part to the estimated origin position value; And a secondary correction step of checking whether the joint part moved to the estimated origin position value is detected by the absolute position sensor and correcting it.

Description

TECHNICAL FIELD [0001] The present invention relates to a method and an apparatus for calibrating a robot,

More particularly, the present invention relates to a method and apparatus for correcting the origin of a robot without disassembling the position sensor when the position sensor is misassembled in the robot joint.

In the production line, when the service robot product is assembled, the position sensor of the joint part is misassembled and the robot is disassembled and reassembled frequently when the origin is wrong.

In addition, when the robot is assembled with the position sensor at the joint part, the absolute origin may be distorted, or when the robot is repaired or parts are to be replaced, the robot may touch the joint part of the robot, have.

Reassembling a robot having a broken origin in this way is not easy to assemble and takes a lot of time, which is costly and time consuming to assemble two robots. This leads to higher production costs and higher product prices. Therefore, researches are needed to prevent the above problems and increase the efficiency of production.

Korean Patent No. 10-0272234 (published Nov. 15, 2000)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method and apparatus for correcting the origin of a robot without disassembling the position sensor when the position sensor is assembled in the robot joint.

Other objects and advantages of the present invention can be understood by the following description, and will be more clearly understood by one embodiment of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

According to an aspect of the present invention, there is provided a method for correcting a reference point of a robot, the method comprising: A first correction step of storing each measured position sensor value measured by moving to the limit surface, calculating an estimated origin position value using the measured position sensor value, and then moving the joint to the estimated origin position value; And a secondary correction step of checking whether the joint part moved to the estimated origin position value is detected by the absolute position sensor and correcting it.

In the primary correction step, the position sensor value measured at the time of movement of the joint part to the instrument restricting surface may be the value of the position sensor measured when the sensing tool installed at the joint part touches the instrument restricting surface.

The estimated origin position value may be a value obtained by adding the position sensor value measured at the mechanism limit of the (+) axis and the position sensor value measured at the mechanism limit of the (-) axis and dividing it by half.

In the secondary correction step, when the detection tool installed at the center of the joint part moved to the estimated origin position value is moved in the opposite direction sensed by the absolute position sensor and the detection tool is not detected by the absolute position sensor The secondary correction can be performed.

The absolute position sensor may be an optical sensor.

According to another aspect of the present invention, there is provided an apparatus for correcting an origin of a robot, the robot including a position sensor mounted on a joint, the apparatus comprising: A first correcting unit for storing the value of the estimated origin position, calculating the estimated origin position value using the calculated value, and moving the joint to the estimated origin position value; And a second correcting unit for checking whether the joint portion moved to the estimated origin position value is detected by the absolute position sensor and correcting it.

The position sensor value may be a value of a position sensor measured when the sensing tool installed on the joint part touches a device restricting surface.

The primary correction unit can set the value obtained by adding the position sensor value measured at the device limit surface of the (+) axis and the position sensor value measured at the device limit surface of the (-) axis and by dividing it by half, as the estimated origin position value .

The secondary correcting unit repeats the movement of the sensing tool installed in the center of the joint part moved to the estimated origin position value in the opposite direction sensed when the absolute position sensor senses it, until the sensing tool is not sensed in the absolute position sensor Secondary correction can be performed.

The absolute position sensor may be an optical sensor.

According to an aspect of the present invention, when the position sensor is misassembled in the robot joint, it is possible to correct the origin of the position sensor attached to the robot joint without disassembling and reassembling it, It is effective to reduce the production efficiency.

According to another aspect of the present invention, it is possible to perform more precise origin correction using an absolute position sensor.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments of the invention and, together with the specific details for carrying out the invention, And shall not be construed as limited to the matters described.
1 is a structural view of a robot joint according to an embodiment of the present invention;
2 is a diagram illustrating a configuration of an apparatus for correcting the origin of a robot according to an embodiment of the present invention;
3 is a flowchart of a method for correcting the origin of a robot according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, in which: There will be. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Throughout the specification, when an element is referred to as " comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. In addition, the term "Quot; and " part " refer to a unit that processes at least one function or operation, which may be implemented in hardware, software, or a combination of hardware and software.

1 is a structural view of a robot joint according to an embodiment of the present invention.

In this embodiment, the robot joint will be described as a robot head. However, the present invention is not limited to this, and the robot joint may be an arm, a leg, or the like of a robot that can be driven.

As shown in FIG. 1, according to the present embodiment, the position sensor 113 may be positioned on one side of the driving shaft 111 of the robot head.

The position sensor 113 detects the position of the robot 115 when the detection tool 115 touches the negative (-) axis mechanism limit surface 116 (117) according to the current origin position of the robot head or the rotation of the robot head It serves to measure the position sensor value.

The sensing tool 115 may be used to determine whether the robot head is at the origin, and may extend from the driving shaft 111 of the robot head by a predetermined distance in the front direction viewed by the robot.

The (-) and (+) axis mechanism restricting surfaces 116 and 117 restrict the robot head to be driven to the left or right only to a certain angle, so that the head of the robot is excessively driven to prevent breakage have.

At this time, as the robot head rotates about the drive shaft 111, the sensing tool 115 can move to the (-) shaft mechanism limiting surface 116 and the (+) shaft mechanism limiting surface 117, The measured position sensor values when the sensing tool 115 touches the instrument restricting surfaces of the two shafts can be stored in a storage (e.g., memory) (not shown), respectively. The first correction unit 210 (FIG. 2) can perform the primary correction of the robot joint by obtaining the estimated origin position based on the stored position sensor value. The description related to the primary correcting unit (210 in FIG. 2) will be described later with reference to FIG.

According to the present embodiment, the estimated origin position value is determined based on the (-) axis mechanism limit surface 116 obtained when the detection tool 115 moves to the negative (-) axis mechanism limit surface 116 (117) And the position sensor value of the (+) axis mechanism limiting surface 117 and then dividing the value by half.

However, the primary correction value, that is, the estimated origin position value is set such that when the sensing tool 115 touches the negative (-) axis mechanism limiting surface 116 (117) as the robot head rotates, An error may occur due to the occurrence of a slight jumping phenomenon during the collision process.

Therefore, the second correction unit (230 in FIG. 2) can perform the second correction for more precise origin correction after the first correction.

2) determines whether the detection tool 115 is detected by the absolute position sensors 119 and 121 based on the primary correction value, i.e., the estimated origin position value, Can be performed.

The description related to the secondary correcting unit will be described later with reference to FIG.

The absolute position sensors 119 and 121 may protrude from the body of the robot in the head direction of the robot. When the robot head is coupled to the body of the robot, And may be provided at a position that the sensing tool 115 can sense by being spaced apart by a certain distance in both directions of the (+) axis. In the present embodiment, one absolute position sensor 119 and one absolute position sensor 121 are provided on the (-) and (+) axes, respectively. The absolute position sensors 119 and 121 may be variable resistance type sensors indicating an absolute position.

Preferably, the absolute position sensors 119 and 121 may be optical sensors, but not limited thereto, and may be any sensor capable of detecting whether or not it is sensed.

According to the present embodiment, the sensing tool 115 may be positioned between the optical sensors provided on the (-) and (-) axes based on the primary correction value. If the corrective correction is performed by the primary correction, the detection tool 115 is located in the middle of the optical sensors provided on the (-) and (-) axes, and is not detected by any of the optical sensors.

However, the primary correction value, that is, the estimated origin position value is set such that when the sensing tool 115 touches the negative (-) axis mechanism limiting surface 116 (117) as the robot head rotates, An error may occur due to the occurrence of a slight jumping phenomenon during the collision process. Accordingly, the secondary correcting unit moves the sensing tool 115 to the primary corrected estimated origin position value, and when the sensing tool 115 is sensed by one of the (-) and (+) axes . Accordingly, the secondary correcting unit 230 (FIG. 2) can move the sensing tool 115 in the direction opposite to the optical sensor, thereby correcting the origin of the robot more accurately.

For example, when the detection tool 115 is moved to the first corrected corrected origin position value (-) in the second correction unit 230 (see FIG. 2), if the detection tool 115 is detected in the axial light sensor 119 , The detection tool 115 is moved a certain distance in the direction in which the positive (+) axis light sensor 121 is located. When the sensing tool 115 is sensed by the positive condenser sensor 121, the second correcting unit 230 of FIG. 2 moves the sensing tool 115 in a direction in which the negative condenser sensor 119 is located To a predetermined distance. At this time, the second correction unit 230 repeats the process a predetermined number of times until the detection tool 115 is not detected by the negative (-) axis light sensors 119 and 121, Difference correction can be performed.

2), when the detection tool 115 is moved to the first-order corrected estimated origin position value, when the detection tool 115 is detected by the optical sensor of one axis, the detection tool 115 115 are moved in the direction of the (-) axis and the (+) axis light sensors 119, 121, respectively, and the positional values of the optical sensors at which the sensing tool 115 is sensed are measured. Then, the secondary correcting unit 230 (FIG. 2) adds the measured position values of the respective optical sensors and then divides the values by half, as a secondary correction value, So that the secondary correction can be performed.

2 is a diagram illustrating a configuration of an apparatus for correcting the origin of a robot according to an embodiment of the present invention.

Referring to FIG. 2, the apparatus 200 for correcting the origin of the robot according to the present embodiment may include a first correction unit 210, a second correction unit 230, and a control unit 250, The device can be included inside the robot.

The primary correcting unit 210 calculates the estimated origin position value by moving the sensing tool 115 to the negative limiting surface 116 of the negative It is possible to perform the primary correction by moving to the estimated origin position value.

For example, the primary correction unit 210 moves the detection tool 115 to the joint limiting part 116, 117 of the (-) axis and the (+) axis about the drive shaft 111 of the robot head When the sensing tool 115 attached to the joint part touches the (-) and (+) axis mechanism restricting surfaces 116 and 117, the position sensor value of the position is measured. The first correction unit 210 may perform a first correction of the robot joint by obtaining an estimated origin position based on the measured position sensor value.

According to the present embodiment, the estimated origin position value is determined based on the (-) axis mechanism limit surface 116 obtained when the detection tool 115 moves to the negative (-) axis mechanism limit surface 116 (117) And the position sensor value of the (+) axis mechanism limiting surface 117 and then dividing the value by half.

However, the primary correction value, that is, the estimated origin position value is set such that when the sensing tool 115 touches the negative (-) axis mechanism limiting surface 116 (117) as the robot head rotates, An error may occur due to the occurrence of a slight jumping phenomenon during the collision process.

Accordingly, the second correction unit 230 can perform the second correction for more precise origin correction after the first correction.

The secondary correcting unit 230 determines whether the absolute position sensor of the sensing tool 115 attached to the robot head is detected based on the estimated origin position value estimated by the primary correcting unit 210 and performs correction .

For example, the detection tool 115 may be positioned between the optical sensors 119 and 121 provided on the (-) and (-) axes based on the primary correction value, that is, the estimated origin position value. The sensor 115 is accurately positioned between the optical sensors 119 and 121 provided on the (-) and (-) axes so that the optical sensor can detect Do not.

However, the primary correction value, that is, the estimated origin position value is set such that when the sensing tool 115 touches the negative (-) axis mechanism limiting surface 116 (117) as the robot head rotates, An error may occur due to the occurrence of a slight jumping phenomenon during the collision process. Accordingly, the second correction unit 230 moves the detection tool 115 to the first-corrected corrected origin position value, and when the detection tool 115 detects any one of the (-) and (+ It can be confirmed that the sensor is detected. Accordingly, the second correction unit 230 can correct the origin of the robot more precisely by performing the correction in the opposite direction in which the sensing tool 115 is sensed by the optical sensor.

For example, when the sensing tool 115 is detected by the axial light sensor 119 by moving the sensing tool 115 to the first-order corrected estimated origin position value, 115 in the direction in which the positive (+) axis light sensor 121 is located. The second correcting unit 230 corrects the sensing tool 115 to a predetermined distance in the direction in which the negative optical axis sensor 119 is positioned when the sensing tool 115 is detected by the positive optical axis sensor 121, The process of shifting can be performed. At this time, the second correction unit 230 performs the second correction by repeating the process a predetermined number of times until the detection tool 115 is not detected by the negative (-) axis light sensors 119 and 121 Can be performed.

When the sensing tool 115 is moved to the first-order corrected estimated origin position value and the sensing tool 115 is sensed on the optical sensor of one axis, the sensing tool 115 ) To the direction of the (-) axis and (+) axial light sensors 119 and 121, respectively, and measures the position of the optical sensor at which the sensing tool 115 is sensed. Thereafter, the second correction unit 230 moves the detection tool 115 to the position of the secondary correction value by using the value obtained by adding the position value of each of the optical sensors and dividing it by half, as a secondary correction value It is possible to perform the origin correction of the robot.

The control unit 250 may correct the origin of the robot joint through overall control of the components.

3 is a flowchart of a method for correcting the origin of a robot according to an embodiment of the present invention.

The robot may be assembled with the position sensor in the joint part during the assembly process, and the absolute origin may be distorted. That is, the origin recognized by the device may differ from the origin seen by the naked eye.

Accordingly, in this embodiment, a method of correcting the origin without disassembling and reassembling the position sensor when the position sensor is assembled to the robot joint is disclosed.

In this embodiment, the robot joint will be described as a robot head. However, the present invention is not limited to this, and the robot joint may be an arm, a leg, or the like of a robot that can be driven.

The origin correction of the robot according to the present embodiment is described as being performed by the origin correction device, and the origin correction device may be provided inside the robot.

As shown in FIG. 3, the origin correction apparatus 200 moves the robot head to the negative (-) axis when it is confirmed that the origin sensor is misaligned with the robot head (S310) (S320). The robot head may be provided with a sensing tool 115 extending in the front direction viewed by the robot by a predetermined distance from the drive shaft. The sensing tool 115 may be used to determine whether the robot head is the origin of the robot head.

The position sensor may be located on one side of the drive shaft of the robot head and may be located on the side of the robot head relative to the limit position of the (-) or (-) axis mechanism according to the current origin position of the robot head or the rotation of the robot head. And can measure the position sensor value of the position.

The origin point correction apparatus 200 moves the robot head about the drive shaft on the negative axis and measures the position sensor value of the position when the sensing tool 115 touches the limit surface of the negative shaft mechanism (S330). Likewise, the origin point correction apparatus 200 moves the robot head about the drive shaft on the (+) axis, and when the detection tool 115 touches the limit surface of the (+) axis mechanism, the position sensor value at that position is measured and stored (S340) (S350).

The restriction surfaces of the (-) and (+) axis mechanisms restrict the robot head to be driven to the left or right only to a certain angle, so that the head of the robot is excessively driven to prevent breakage.

The origin correction apparatus 200 may perform the primary correction of the robot joint by obtaining an estimated origin position based on the stored position sensor value (S360).

At this time, the estimated origin position value is calculated from the position sensor value of the (+) axis mechanism limit surface and the (+) axis mechanism limit surface obtained when the sensing tool 115 moves to the (-) and It can be a value obtained by adding the position sensor value and dividing the value by half.

Thereafter, the origin correction apparatus 200 may correct the origin by moving the detection tool 115 to the estimated origin position value obtained by the primary correction (S370).

However, when the sensing tool 115 touches the limit surface of the (-) and (+) axis mechanisms as the robot head rotates as described above, the primary correction value, that is, the estimated origin position value, An error may occur due to the occurrence of the phenomenon. Accordingly, the origin correction apparatus 200 moves the detection tool 115 to the primary corrected estimated origin position value, and when the detection tool 115 detects the absolute position of either of the (-) and (+) axes You can see that it is detected by the sensor. Accordingly, the origin correction apparatus 200 can perform the more accurate robot origin correction by moving the sensing tool 115 in the direction opposite to the direction detected by the absolute position sensor (S380).

When the robot head is coupled to the body portion of the robot, the absolute position sensor may be provided to protrude in the head direction of the robot from the body portion of the robot. When the robot head is coupled to the body portion of the robot, And can be provided at a position that can be sensed by the sensing tool 115. In the present embodiment, one absolute position sensor is provided for each of the (-) and (+) axes. The absolute position sensor may be a variable resistance type sensor indicating an absolute position.

Preferably, the absolute position sensor may be an optical sensor, but it is not limited thereto, and it may be a sensor capable of detecting whether or not it is sensed.

The origin correction apparatus 200 confirms whether or not the detection tool 115 is detected by the photosensor after the primary correction.

At this time, the detection tool 115 may be positioned between the optical sensors provided on the (-) and (-) axes based on the estimated origin position value obtained by the primary correction. When the origin correction apparatus 200 corrects the correction by the primary correction, the detection tool 115 is positioned exactly in the middle between the optical sensors provided on the (-) and (+) axes, Not detected.

However, when the sensing tool 115 touches the limit surface of the (-) and (+) axis mechanisms as the robot head rotates as described above, the primary correction value, that is, the estimated origin position value, An error may occur due to the occurrence of the phenomenon. Accordingly, the origin correcting apparatus 200 moves the sensing tool 115 to the first corrected estimated origin position value, and the sensing tool 115 moves the sensing tool 115 to the (-) and (+ It can be confirmed that any one of the photosensors is detected. Accordingly, the origin correcting apparatus 200 can correct the origin of the robot more accurately by performing the correction in the direction opposite to that in which the sensing tool 115 is sensed by the optical sensor.

For example, when the detection tool 115 is moved to the first-order corrected estimated origin position value (-) when the detection tool 115 is detected by the axial light sensor, the origin correction apparatus 200 outputs the detection tool 115 +) Move a certain distance in the direction of the axis sensor. When the detection tool 115 is detected by the positive optical axis sensor, the origin correction apparatus 200 may perform a process of moving the detection tool 115 by a predetermined distance in the direction in which the negative optical axis sensor is located have. At this time, the origin correction apparatus 200 may perform the secondary correction by repeating the above process a predetermined number of times until the detection tool 115 is not detected by the (-) and (+) axial light sensors.

When the detection tool 115 is moved to the first-order corrected estimated origin position value, the origin correction apparatus 200 may detect the detection tool 115 on the optical sensor of one axis -) axis, and (+) axis sensor. At this time, the origin correcting apparatus 200 stores the position values at which the sensing tool 115 senses the optical sensors, adds the values, divides the position values by half, sets the position as a secondary correction value, It is possible to perform the secondary correction by moving the detection tool 115.

According to the present invention, the origin correcting apparatus performs the primary correction for the origin correction of the robot, and corrects the errors that may occur in the primary correction by using the optical sensor to correct the origin of the robot more precisely can do.

While the specification contains many features, such features should not be construed as limiting the scope of the invention or the scope of the claims. In addition, the features described in the individual embodiments herein may be combined and implemented in a single embodiment. On the contrary, the various features described in the singular embodiments may be individually implemented in various embodiments or properly combined.

Although the operations are described in a particular order in the figures, it should be understood that such operations are performed in a particular order as shown, or that all described operations are performed in a series of sequential orders, or to obtain the desired result. In certain circumstances, multitasking and parallel processing may be advantageous. It should also be understood that the division of various system components in the above embodiments does not require such distinction in all embodiments. The above-described program components and systems can generally be implemented as a single software product or as a package in multiple software products.

The method of the present invention as described above can be implemented by a program and stored in a computer-readable recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto optical disk, etc.). Such a process can be easily carried out by those skilled in the art and will not be described in detail.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. The present invention is not limited to the drawings.

210: primary correction unit
230: second correction unit

Claims (10)

A method of correcting an origin of a robot in an apparatus for correcting an origin of a robot including a joint part in which a position sensor is assembled,
The position of each of the measured position sensors is stored by moving the joint part to the mechanism limit surface of the (+) axis, and the estimated origin position value is calculated using the position sensor value, and then the first A correction step; And
And a secondary correction step of checking whether the joint part moved to the estimated origin position value is detected by the absolute position sensor and correcting it. The method according to claim 1,
In the primary correction step,
Wherein the position sensor value measured at the movement of the joint part to the instrument restricting surface is a value of the position sensor measured when the sensing instrument provided at the joint part touches the instrument restricting surface. The method according to claim 1,
Wherein the estimated origin position value is a value obtained by adding the position sensor value measured at the device limit surface of the (-) axis and the position sensor value measured at the device limit surface of the (+) axis, Way. The method according to claim 1,
In the secondary correction step,
When the detection tool installed at the center of the joint part moved to the estimated origin position value is detected by the absolute position sensor, it is moved in the opposite direction that is detected, and the second tool is repeatedly performed until the detection tool is not detected by the absolute position sensor And the origin of the robot is corrected. 5. The method of claim 4,
Wherein the absolute position sensor is an optical sensor. An origin correction apparatus for a robot having a position sensor incorporated in a joint part,
The position of each of the measured position sensors is stored by moving the joint part to the mechanism limit surface of the (+) axis, and the estimated origin position value is calculated using the position sensor value, and then the first Complementary government; And
And a secondary correcting unit for confirming whether or not the joint part moved to the estimated origin position value is detected by the absolute position sensor and correcting it. The method according to claim 6,
Wherein the position sensor value is a value of a position sensor measured when the sensing tool installed on the joint part touches the device limitation surface. The method according to claim 6,
The primary correction unit is to add the position sensor value measured at the device limit surface of the (+) axis and the position sensor value measured at the device limit surface of the (-) axis and divide the value by half, to the estimated origin position value Characterized in that the robot has an origin correction device. The method according to claim 6,
The secondary correcting unit repeats the movement of the sensing tool installed in the center of the joint part moved to the estimated origin position value in the opposite direction sensed when the absolute position sensor senses it, until the sensing tool is not sensed in the absolute position sensor And the second correction is performed. 10. The method of claim 9,
Wherein the absolute position sensor is an optical sensor.
KR1020130164783A 2013-12-27 2013-12-27 Method and device for calibrating original point of robot KR20150076510A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210079703A (en) 2019-12-20 2021-06-30 한국항공우주연구원 Satellite having reaction wheel having arrangement structure and direction of rotation for preventing zero-crossing

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210079703A (en) 2019-12-20 2021-06-30 한국항공우주연구원 Satellite having reaction wheel having arrangement structure and direction of rotation for preventing zero-crossing

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