SE508161C2 - Förfarande och anordning för kalibrering av rörelseaxlar hos en industrirobot - Google Patents

Förfarande och anordning för kalibrering av rörelseaxlar hos en industrirobot

Info

Publication number
SE508161C2
SE508161C2 SE9501137A SE9501137A SE508161C2 SE 508161 C2 SE508161 C2 SE 508161C2 SE 9501137 A SE9501137 A SE 9501137A SE 9501137 A SE9501137 A SE 9501137A SE 508161 C2 SE508161 C2 SE 508161C2
Authority
SE
Sweden
Prior art keywords
calibration
robot
position sensor
tool
parameters
Prior art date
Application number
SE9501137A
Other languages
English (en)
Swedish (sv)
Other versions
SE9501137L (sv
SE9501137D0 (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 SE9501137A priority Critical patent/SE508161C2/sv
Publication of SE9501137D0 publication Critical patent/SE9501137D0/xx
Priority to US08/930,008 priority patent/US5907229A/en
Priority to DE69602745T priority patent/DE69602745T2/de
Priority to ES96909424T priority patent/ES2136398T3/es
Priority to JP8529259A priority patent/JPH11502776A/ja
Priority to EP96909424A priority patent/EP0824393B1/en
Priority to PCT/SE1996/000376 priority patent/WO1996030171A1/en
Publication of SE9501137L publication Critical patent/SE9501137L/xx
Publication of SE508161C2 publication Critical patent/SE508161C2/sv

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39025—Spheric tool interrupts transmitted calibration beam, in different configurations

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
SE9501137A 1995-03-30 1995-03-30 Förfarande och anordning för kalibrering av rörelseaxlar hos en industrirobot SE508161C2 (sv)

Priority Applications (7)

Application Number Priority Date Filing Date Title
SE9501137A SE508161C2 (sv) 1995-03-30 1995-03-30 Förfarande och anordning för kalibrering av rörelseaxlar hos en industrirobot
US08/930,008 US5907229A (en) 1995-03-30 1996-03-26 Method and device for calibration of movement axes of an industrial robot
DE69602745T DE69602745T2 (de) 1995-03-30 1996-03-26 Verfahren und einrichtung zum eichen der bewegungen eines industrieroboters
ES96909424T ES2136398T3 (es) 1995-03-30 1996-03-26 Metodo y dispositivo para la calibracion de ejes de movimiento de un robot industrial.
JP8529259A JPH11502776A (ja) 1995-03-30 1996-03-26 多軸工業ロボットの較正の装置と方法
EP96909424A EP0824393B1 (en) 1995-03-30 1996-03-26 Method and device for calibration of movement axes of an industrial robot
PCT/SE1996/000376 WO1996030171A1 (en) 1995-03-30 1996-03-26 Method and device for calibration of movement axes of an industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9501137A SE508161C2 (sv) 1995-03-30 1995-03-30 Förfarande och anordning för kalibrering av rörelseaxlar hos en industrirobot

Publications (3)

Publication Number Publication Date
SE9501137D0 SE9501137D0 (sv) 1995-03-30
SE9501137L SE9501137L (sv) 1996-10-01
SE508161C2 true SE508161C2 (sv) 1998-09-07

Family

ID=20397737

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9501137A SE508161C2 (sv) 1995-03-30 1995-03-30 Förfarande och anordning för kalibrering av rörelseaxlar hos en industrirobot

Country Status (7)

Country Link
US (1) US5907229A (es)
EP (1) EP0824393B1 (es)
JP (1) JPH11502776A (es)
DE (1) DE69602745T2 (es)
ES (1) ES2136398T3 (es)
SE (1) SE508161C2 (es)
WO (1) WO1996030171A1 (es)

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WO2000035639A1 (en) * 1998-12-17 2000-06-22 Robotkonsult Ab Method for cell alignment and identification and calibration of robot tool

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WO1999010136A1 (en) * 1997-08-28 1999-03-04 Proteus Corporation Laser calibration of robotics systems
US6417638B1 (en) * 1998-07-17 2002-07-09 Sensable Technologies, Inc. Force reflecting haptic interface
US6489741B1 (en) * 1998-08-25 2002-12-03 Genmark Automation, Inc. Robot motion compensation system
DE19854011A1 (de) * 1998-11-12 2000-05-25 Knoll Alois Einrichtung und Verfahren zum Vermessen von Mechanismen und ihrer Stellung
US6519860B1 (en) * 2000-10-19 2003-02-18 Sandia Corporation Position feedback control system
DE10153049B4 (de) * 2001-10-26 2007-03-08 Wiest Ag 3D-Koordinationssystem
AU2003235693A1 (en) * 2002-01-15 2003-07-30 Johannes Kemp Calibration device and method for calibrating a working point of tools for industrial robots
KR100485348B1 (ko) * 2002-07-09 2005-04-27 삼성전자주식회사 로봇의 캘리브레이션 방법
US20040109751A1 (en) * 2002-08-22 2004-06-10 Preston Whitcomb Substrate processing system
US7411576B2 (en) 2003-10-30 2008-08-12 Sensable Technologies, Inc. Force reflecting haptic interface
DE102004010312B8 (de) 2004-03-03 2009-07-30 Advintec Gmbh Verfahren zum Einmessen eines Arbeitspunktes
JP3752251B2 (ja) * 2004-07-01 2006-03-08 シャープ株式会社 自走式移動車
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
US20080252248A1 (en) * 2005-01-26 2008-10-16 Abb Ab Device and Method for Calibrating the Center Point of a Tool Mounted on a Robot by Means of a Camera
DE102007023585B4 (de) 2007-05-16 2009-08-20 Esab Cutting Systems Gmbh Einrichtung und Verfahren zum Einmessen von Schwenkaggregaten, insbesondere an Schneidmaschinen
US7623230B2 (en) * 2007-10-23 2009-11-24 Nokia Corporation Optical sensor calibration
CN101911274B (zh) * 2007-12-27 2012-07-04 爱发科股份有限公司 传送机器人的诊断系统
FR2928289B1 (fr) * 2008-03-05 2010-05-07 Peugeot Citroen Automobiles Sa Procede de controle de la geometrie d'une machine a commande numerique pour l'usinage 5 axes.
FR2928387B1 (fr) * 2008-03-10 2012-11-16 Westline Procede et systeme de calibration automatique des engins de terrassement
KR20110009658A (ko) * 2008-03-21 2011-01-28 배리에이션 리덕션 솔루션즈, 아이앤씨. 로봇 정확도 향상을 위한 외부 시스템
CN102087096B (zh) * 2010-11-12 2012-07-25 浙江大学 一种基于激光跟踪测量的机器人工具坐标系自动标定装置及方法
DE102014215321A1 (de) * 2014-08-04 2016-02-04 Bayerische Motoren Werke Aktiengesellschaft Robotersystem und Verfahren zum Kalibrieren von Achsen eines Roboters
CN104608129B (zh) * 2014-11-28 2016-06-08 江南大学 基于平面约束的机器人标定方法
CN104833324A (zh) * 2015-01-28 2015-08-12 江南大学 一种基于测量头的机器人标定方法
US10547796B2 (en) 2015-07-14 2020-01-28 Industrial Technology Research Institute Calibration equipment and calibration method of a mechanical system
CN106808483B (zh) * 2015-11-30 2019-06-11 台达电子工业股份有限公司 机械手臂的工具校正装置
US10065319B2 (en) * 2015-11-30 2018-09-04 Delta Electronics, Inc. Tool calibration apparatus of robot manipulator
DE102017004433B4 (de) * 2017-05-08 2019-03-14 Kuka Deutschland Gmbh Roboterjustage
CN108927825B (zh) * 2018-08-16 2019-11-01 居鹤华 基于轴不变量的多轴机器人结构参数精测方法
CN109176517B (zh) * 2018-09-10 2021-04-30 武汉久同智能科技有限公司 基于末端名义点约束的串联工业机器人连杆参数标定方法
DE102023105674B4 (de) 2023-03-07 2025-07-10 Isios Gmbh Verfahren und Anordnung zur Kompensation nicht-geometrischer Fehlereinflüsse auf eine Roboterabsolutgenauigkeit mittels eines Laser-Sensor-Systems
WO2026078871A1 (ja) * 2024-10-11 2026-04-16 ファナック株式会社 キャリブレーションプログラムおよびキャリブレーション方法

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US5177563A (en) * 1989-02-01 1993-01-05 Texas A&M University System Method and apparatus for locating physical objects
GB8909357D0 (en) * 1989-04-25 1989-06-14 Renishaw Plc Position determining apparatus
US4980626A (en) * 1989-08-10 1990-12-25 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method and apparatus for positioning a robotic end effector
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5305091A (en) * 1992-12-07 1994-04-19 Oreo Products Inc. Optical coordinate measuring system for large objects
SE501867C2 (sv) * 1993-11-15 1995-06-12 Asea Brown Boveri Förfarande och system för kalibrering av en industrirobot utnyttjande en sfärisk kalibreringskropp
GB9401692D0 (en) * 1994-01-28 1994-03-23 Renishaw Plc Performing measurement or calibration on positioning machines
US5802201A (en) * 1996-02-09 1998-09-01 The Trustees Of Columbia University In The City Of New York Robot system with vision apparatus and transparent grippers
US5783834A (en) * 1997-02-20 1998-07-21 Modular Process Technology Method and process for automatic training of precise spatial locations to a robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000035639A1 (en) * 1998-12-17 2000-06-22 Robotkonsult Ab Method for cell alignment and identification and calibration of robot tool

Also Published As

Publication number Publication date
SE9501137L (sv) 1996-10-01
DE69602745T2 (de) 2000-03-16
EP0824393A1 (en) 1998-02-25
WO1996030171A1 (en) 1996-10-03
EP0824393B1 (en) 1999-06-02
SE9501137D0 (sv) 1995-03-30
ES2136398T3 (es) 1999-11-16
US5907229A (en) 1999-05-25
JPH11502776A (ja) 1999-03-09
DE69602745D1 (de) 1999-07-08

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