KR940013742A - Robot calibration device - Google Patents

Robot calibration device Download PDF

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Publication number
KR940013742A
KR940013742A KR1019920024870A KR920024870A KR940013742A KR 940013742 A KR940013742 A KR 940013742A KR 1019920024870 A KR1019920024870 A KR 1019920024870A KR 920024870 A KR920024870 A KR 920024870A KR 940013742 A KR940013742 A KR 940013742A
Authority
KR
South Korea
Prior art keywords
robot
calibration device
calibration
computer
unit
Prior art date
Application number
KR1019920024870A
Other languages
Korean (ko)
Other versions
KR950013712B1 (en
Inventor
박형욱
정상봉
Original Assignee
김성웅
주식회사 기아기공
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 김성웅, 주식회사 기아기공 filed Critical 김성웅
Priority to KR1019920024870A priority Critical patent/KR950013712B1/en
Publication of KR940013742A publication Critical patent/KR940013742A/en
Application granted granted Critical
Publication of KR950013712B1 publication Critical patent/KR950013712B1/en

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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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

본 발명은 로보트에 있어서 공구(Tool) 교환 및 이설작업으로 발생되는 로보트에 자세변화를 교정하기 위한 캘리브레이션(Calibration)장치에 대한 것으로, 컴퓨터(1)와 캘리브레이션장치(2) 및 로보트시스템(3)을 구비하여 로보트(R)의 자세변화시 컴퓨터(1)를 통한 교정으로 오프라인 티칭(off line teaching)이 가능하도록 한 것이다.The present invention relates to a calibration device for correcting a posture change in a robot generated by a tool exchange and relocation operation in a robot. The computer 1, the calibration device 2, and the robot system 3 are provided. It is provided to enable offline teaching (offline teaching) by calibration through the computer (1) when the posture change of the robot (R).

Description

로보트(ROBOT)의 캘리브레이션(CALIBRATI0N)장치Robot calibration device (calibrati0n)

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

제1도는 본 발명의 장치도,1 is a device diagram of the present invention,

제2도는 본 발명의 시스템 구성도,2 is a system configuration diagram of the present invention,

제3도는 본 발명의 프리프로세서 흐름도.3 is a preprocessor flow diagram of the present invention.

Claims (3)

프로그램처리부(SP)와 인터페이스부(IF1)로 구성되는 컴퓨터(1)와, 상기 컴퓨터(1)의 출력신호를 매칭시켜 주는 인터페이스부(IF2) 및 전처리부(PP)로 구성되는 캘리브레이션장치(2)와, 상기 전처리부(PP)와 연결되는 로보트 콘트롤부(Rc) 및 로보트(R)로 구성되는 로봇트 시스템(3)을 구비시켜 로보트(R)의 자세변화시 컴퓨터(1)를 통한 교정으로 오프라인 티칭을 가능토록 함을 특징으로 하는 로보트 캘리브레이션장치.A calibration device composed of a computer 1 comprising a program processing unit SP and an interface unit IF 1 , an interface unit IF 2 for matching an output signal of the computer 1, and a preprocessing unit PP. (2) and a robot system (3) consisting of a robot control unit (Rc) and a robot (R) connected to the preprocessing unit (PP) to change the attitude of the robot (R) through the computer (1). Robot calibration device characterized by enabling offline teaching by calibration. 제1항에 있어서, 상기 캘리브레이션장치(2)를 구성하는 전처리부(PP)를 통해 툴값의 변화에 따른 툴캘리브레이션을 실시토록 함을 특징으로 하는 로보트 캘리브레이션장치.The robot calibration device according to claim 1, characterized in that tool calibration is performed according to a change in tool value through a preprocessing unit (PP) constituting the calibration device (2). 제1항에 있어서, 상기 캘리브레이션장치(2)를 구성하는 전처리부(PP)를 통해 환경 변화에 따른 툴캘리브레이션을 실시토록 함을 특징으로 하는 로보트 캘리브레이션장치.The robot calibration device according to claim 1, characterized in that tool calibration is performed according to an environment change through a preprocessing unit (PP) constituting the calibration device (2). ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019920024870A 1992-12-21 1992-12-21 Calibration device of robot KR950013712B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019920024870A KR950013712B1 (en) 1992-12-21 1992-12-21 Calibration device of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019920024870A KR950013712B1 (en) 1992-12-21 1992-12-21 Calibration device of robot

Publications (2)

Publication Number Publication Date
KR940013742A true KR940013742A (en) 1994-07-15
KR950013712B1 KR950013712B1 (en) 1995-11-15

Family

ID=19346079

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019920024870A KR950013712B1 (en) 1992-12-21 1992-12-21 Calibration device of robot

Country Status (1)

Country Link
KR (1) KR950013712B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100758978B1 (en) * 2003-06-26 2007-09-14 현대중공업 주식회사 The Calibration Method of Traverse Axes of a Robot System

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100758978B1 (en) * 2003-06-26 2007-09-14 현대중공업 주식회사 The Calibration Method of Traverse Axes of a Robot System

Also Published As

Publication number Publication date
KR950013712B1 (en) 1995-11-15

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