SE501263C2 - Förfarande för kalibrering av rörelseaxlar hos en industrirobot - Google Patents

Förfarande för kalibrering av rörelseaxlar hos en industrirobot

Info

Publication number
SE501263C2
SE501263C2 SE9103642A SE9103642A SE501263C2 SE 501263 C2 SE501263 C2 SE 501263C2 SE 9103642 A SE9103642 A SE 9103642A SE 9103642 A SE9103642 A SE 9103642A SE 501263 C2 SE501263 C2 SE 501263C2
Authority
SE
Sweden
Prior art keywords
robot
calibration
side surfaces
parameters
calibration parameters
Prior art date
Application number
SE9103642A
Other languages
English (en)
Swedish (sv)
Other versions
SE9103642D0 (sv
SE9103642L (sv
Inventor
John-Erik Snell
Original Assignee
Asea Brown Boveri
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 Asea Brown Boveri filed Critical Asea Brown Boveri
Priority to SE9103642A priority Critical patent/SE501263C2/sv
Publication of SE9103642D0 publication Critical patent/SE9103642D0/xx
Priority to DE69220504T priority patent/DE69220504T2/de
Priority to US08/240,706 priority patent/US5528116A/en
Priority to PCT/SE1992/000804 priority patent/WO1993011915A1/en
Priority to ES92924972T priority patent/ES2104957T3/es
Priority to AU30994/92A priority patent/AU3099492A/en
Priority to JP51082793A priority patent/JP3326175B2/ja
Priority to EP92924972A priority patent/EP0616566B1/en
Publication of SE9103642L publication Critical patent/SE9103642L/xx
Publication of SE501263C2 publication Critical patent/SE501263C2/sv

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
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50026—Go to reference plane, cube

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
SE9103642A 1991-12-10 1991-12-10 Förfarande för kalibrering av rörelseaxlar hos en industrirobot SE501263C2 (sv)

Priority Applications (8)

Application Number Priority Date Filing Date Title
SE9103642A SE501263C2 (sv) 1991-12-10 1991-12-10 Förfarande för kalibrering av rörelseaxlar hos en industrirobot
DE69220504T DE69220504T2 (de) 1991-12-10 1992-11-24 Verfahren und vorrichtung zum eichen der bewegungsachsen eines industriroboters
US08/240,706 US5528116A (en) 1991-12-10 1992-11-24 Method and device for calibration of movement axes of an industrial robot
PCT/SE1992/000804 WO1993011915A1 (en) 1991-12-10 1992-11-24 Method and device for calibration of movement axes of an industrial robot
ES92924972T ES2104957T3 (es) 1991-12-10 1992-11-24 Metodo y dispositivo para la calibracion de ejes de movimiento de un robot industrial.
AU30994/92A AU3099492A (en) 1991-12-10 1992-11-24 Method and device for calibration of movement axes of an industrial robot
JP51082793A JP3326175B2 (ja) 1991-12-10 1992-11-24 産業用ロボットの運動軸の較正方法及び装置
EP92924972A EP0616566B1 (en) 1991-12-10 1992-11-24 Method and device for calibration of movement axes of an industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9103642A SE501263C2 (sv) 1991-12-10 1991-12-10 Förfarande för kalibrering av rörelseaxlar hos en industrirobot

Publications (3)

Publication Number Publication Date
SE9103642D0 SE9103642D0 (sv) 1991-12-10
SE9103642L SE9103642L (sv) 1993-06-11
SE501263C2 true SE501263C2 (sv) 1994-12-19

Family

ID=20384558

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9103642A SE501263C2 (sv) 1991-12-10 1991-12-10 Förfarande för kalibrering av rörelseaxlar hos en industrirobot

Country Status (8)

Country Link
US (1) US5528116A (es)
EP (1) EP0616566B1 (es)
JP (1) JP3326175B2 (es)
AU (1) AU3099492A (es)
DE (1) DE69220504T2 (es)
ES (1) ES2104957T3 (es)
SE (1) SE501263C2 (es)
WO (1) WO1993011915A1 (es)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE501867C2 (sv) * 1993-11-15 1995-06-12 Asea Brown Boveri Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp
DE19507227C1 (de) * 1995-03-02 1996-07-04 Qiagen Gmbh Verfahren zum Kalibrieren des Arbeitspunktes eines automatisch in einem kartesischen Koordinatensystem bewegbaren Werkzeuges
EP0896656A4 (en) * 1995-11-14 2000-11-22 Kam C Lau MACHINE-MOUNTED BALL STICK SYSTEM AND METHOD FOR USE THEREOF
SE505981C2 (sv) * 1996-02-14 1997-10-27 Asea Brown Boveri Förfarande för styrning av en industrirobot med hänsyn till moment och belastning
US6445964B1 (en) 1997-08-04 2002-09-03 Harris Corporation Virtual reality simulation-based training of telekinegenesis system for training sequential kinematic behavior of automated kinematic machine
US6052611A (en) * 1997-11-28 2000-04-18 Picker International, Inc. Frameless stereotactic tomographic scanner for image guided interventional procedures
US6070109A (en) * 1998-03-10 2000-05-30 Fanuc Robotics North America, Inc. Robot calibration system
US6202031B1 (en) * 1998-04-08 2001-03-13 Mcms, Inc. Method of calibrating an automated placement machine
US6356807B1 (en) 1999-08-13 2002-03-12 Fanuc Robotics North America, Inc. Method of determining contact positions, calibration parameters, and reference frames for robot assemblies
US6812665B2 (en) 2002-04-19 2004-11-02 Abb Ab In-process relative robot workcell calibration
KR100485348B1 (ko) * 2002-07-09 2005-04-27 삼성전자주식회사 로봇의 캘리브레이션 방법
JP2005157784A (ja) * 2003-11-26 2005-06-16 Tokyo Denki Univ 小型アーティファクトを用いた運動機構の校正方法
DE102004028568B4 (de) * 2004-06-15 2011-06-16 Gerhard Klaiber Manipulierwerkzeug
WO2006086021A2 (en) * 2004-10-25 2006-08-17 University Of Dayton Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination
JP5153228B2 (ja) * 2007-06-28 2013-02-27 株式会社小坂研究所 多関節型座標測定装置のパラメータ校正方法
JP5235376B2 (ja) * 2007-10-05 2013-07-10 川崎重工業株式会社 ロボットのターゲット位置検出装置
ATE532610T1 (de) * 2008-04-30 2011-11-15 Abb Technology Ab Verfahren und system zur bestimmung der beziehung zwischen einem roboterkoordinatensystem und einem lokalen koordinatensystem, das im arbeitsbereich des roboters positioniert ist
CN102802883B (zh) * 2010-03-18 2015-07-15 Abb研究有限公司 工业机器人的基座坐标系的校准
CN103987486B (zh) * 2011-12-09 2017-03-29 戴姆勒股份公司 用于运行生产设备的方法
DE102017103938A1 (de) * 2017-02-24 2018-08-30 Carl Zeiss Industrielle Messtechnik Gmbh Vorrichtung zum Messen der Rauheit einer Werkstückoberfläche
CN107718050B (zh) * 2017-11-14 2020-07-17 深圳众为兴技术股份有限公司 Scara机器人臂长与零点标定方法、装置、介质及计算机设备
CN109032072B (zh) * 2018-07-30 2021-04-27 成都飞机工业（集团）有限责任公司 一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4362977A (en) * 1980-06-30 1982-12-07 International Business Machines Corporation Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot
US4670849A (en) * 1983-03-31 1987-06-02 Hitachi, Ltd. Position error correcting method and apparatus for industrial robot
SE8304100L (sv) * 1983-07-22 1985-01-23 Ibm Svenska Ab System for automatisk kalibrering av rymdkoordinaterna hos en robotgripper i sex frihetsgrader
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
SE464855B (sv) * 1986-09-29 1991-06-24 Asea Ab Foerfarande vid en industrirobot foer kalibrering av en sensor
US4965499A (en) * 1987-12-31 1990-10-23 Westinghouse Electric Corp Parametric path modeling for an optical automatic seam tracker and real time robotic control system

Also Published As

Publication number Publication date
ES2104957T3 (es) 1997-10-16
JPH07501755A (ja) 1995-02-23
SE9103642D0 (sv) 1991-12-10
EP0616566B1 (en) 1997-06-18
US5528116A (en) 1996-06-18
DE69220504D1 (de) 1997-07-24
DE69220504T2 (de) 1998-02-05
SE9103642L (sv) 1993-06-11
JP3326175B2 (ja) 2002-09-17
WO1993011915A1 (en) 1993-06-24
AU3099492A (en) 1993-07-19
EP0616566A1 (en) 1994-09-28

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