SE8304101L - System for automatisk kalibrering av rymdkoordinater hos en robotgripper i sex frihetsgrader - Google Patents

System for automatisk kalibrering av rymdkoordinater hos en robotgripper i sex frihetsgrader

Info

Publication number
SE8304101L
SE8304101L SE8304101A SE8304101A SE8304101L SE 8304101 L SE8304101 L SE 8304101L SE 8304101 A SE8304101 A SE 8304101A SE 8304101 A SE8304101 A SE 8304101A SE 8304101 L SE8304101 L SE 8304101L
Authority
SE
Sweden
Prior art keywords
freedom
sex
robot gripper
robot
space coordinates
Prior art date
Application number
SE8304101A
Other languages
English (en)
Other versions
SE8304101D0 (sv
Inventor
L Szonyi
G Ekstrom
Original Assignee
Ibm Svenska Ab
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 Ibm Svenska Ab filed Critical Ibm Svenska Ab
Priority to SE8304101A priority Critical patent/SE8304101L/sv
Publication of SE8304101D0 publication Critical patent/SE8304101D0/sv
Priority to JP59125445A priority patent/JPS6025681A/ja
Priority to EP84107437A priority patent/EP0132616B1/en
Priority to DE8484107437T priority patent/DE3463912D1/de
Priority to US06/628,871 priority patent/US4581566A/en
Priority to NO842908A priority patent/NO159065C/no
Priority to FI842847A priority patent/FI76275C/sv
Priority to DK357684A priority patent/DK357684A/da
Publication of SE8304101L publication Critical patent/SE8304101L/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
    • G05B2219/50139—Calibration, setting tool after measurement on tool

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
SE8304101A 1983-07-22 1983-07-22 System for automatisk kalibrering av rymdkoordinater hos en robotgripper i sex frihetsgrader SE8304101L (sv)

Priority Applications (8)

Application Number Priority Date Filing Date Title
SE8304101A SE8304101L (sv) 1983-07-22 1983-07-22 System for automatisk kalibrering av rymdkoordinater hos en robotgripper i sex frihetsgrader
JP59125445A JPS6025681A (ja) 1983-07-22 1984-06-20 ロボツト把持器自動較正補償方法
EP84107437A EP0132616B1 (en) 1983-07-22 1984-06-28 System for automatically calibrating the space coordinates of a robot gripper in six degrees of freedom
DE8484107437T DE3463912D1 (en) 1983-07-22 1984-06-28 System for automatically calibrating the space coordinates of a robot gripper in six degrees of freedom
US06/628,871 US4581566A (en) 1983-07-22 1984-07-09 System for automatically calibrating a robot
NO842908A NO159065C (no) 1983-07-22 1984-07-16 Fremgangsmaate for automatisk kalibrering og kompensering av en robotgriper i alle frihetsgrader, samt anordning forutfoerelse av fremgangsmaaten.
FI842847A FI76275C (sv) 1983-07-22 1984-07-16 Metod för automatisk kalibrering och kompensering av en robotgripper i alla frihetsgrader
DK357684A DK357684A (da) 1983-07-22 1984-07-20 Fremgangsmaade og apparat til automatisk kalibrering af rumkoordinater i en griberobot med seks frihedsgrader

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE8304101A SE8304101L (sv) 1983-07-22 1983-07-22 System for automatisk kalibrering av rymdkoordinater hos en robotgripper i sex frihetsgrader

Publications (2)

Publication Number Publication Date
SE8304101D0 SE8304101D0 (sv) 1983-07-22
SE8304101L true SE8304101L (sv) 1985-01-23

Family

ID=20352040

Family Applications (1)

Application Number Title Priority Date Filing Date
SE8304101A SE8304101L (sv) 1983-07-22 1983-07-22 System for automatisk kalibrering av rymdkoordinater hos en robotgripper i sex frihetsgrader

Country Status (8)

Country Link
US (1) US4581566A (sv)
EP (1) EP0132616B1 (sv)
JP (1) JPS6025681A (sv)
DE (1) DE3463912D1 (sv)
DK (1) DK357684A (sv)
FI (1) FI76275C (sv)
NO (1) NO159065C (sv)
SE (1) SE8304101L (sv)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4683406A (en) * 1984-06-08 1987-07-28 Nec Corporation Joint assembly movable like a human arm
JPS6125207A (ja) * 1984-07-12 1986-02-04 Fanuc Ltd ツ−ル座標系の設定方式
JP2684359B2 (ja) * 1985-02-22 1997-12-03 ファナック 株式会社 ロボットのワーク直交座標系設定装置
JPS61203286A (ja) * 1985-03-07 1986-09-09 三菱電機株式会社 産業用ロボツト装置
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
DD240351A1 (de) * 1985-08-19 1986-10-29 Werkzeugmasch Okt Veb Industrieroboter fuer die handhabung von werkstuecken und werkzeugen
US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US4725965A (en) * 1986-07-23 1988-02-16 American Telephone And Telegraph Company Method for calibrating a SCARA robot
US4841762A (en) * 1987-10-27 1989-06-27 Automatix Incorporated Symmetry calibration method for multi-configuration robots
US4908777A (en) * 1988-01-27 1990-03-13 Storage Technology Corporation Robot arm calibration system
US5086319A (en) * 1989-11-17 1992-02-04 Xerox Corporation Multiple servo system for compensation of document mis-registration
US5105368A (en) * 1990-08-01 1992-04-14 At&T Bell Laboratories Method for improving robot accuracy
US5392384A (en) * 1991-04-09 1995-02-21 Kabushiki Kaisha Yaskawa Denki Method of calibrating an industrial robot
JPH04359302A (ja) * 1991-06-05 1992-12-11 Hitachi Ltd ロボットの制御方法
US5798627A (en) 1995-01-04 1998-08-25 Gilliland; Malcolm T. Method for simultaneous operation of robot welders
KR0176662B1 (ko) * 1995-12-28 1999-04-01 김광호 칩마운터용 직교로봇의 칩마운팅 위치제어방법 및 위치제어장치
DE19616276C2 (de) * 1996-04-24 1998-04-30 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Vermessen und Kalibrieren eines mehrachsigen Manipulators
US5740328A (en) * 1996-08-12 1998-04-14 The Regents Of The University Of California Apparatus for robotic positional referencing and calibration
US6571148B1 (en) 2000-05-03 2003-05-27 The Boeing Company System for automatically certifying the accuracy of a manufacturing machine and associated methods
TW493799U (en) * 2000-12-15 2002-07-01 Mosel Vitelic Inc Teaching tool for a robot arm for wafer reaction ovens
DE10203002B4 (de) * 2002-01-26 2006-12-28 Wilhelm Karmann Gmbh Vorrichtung zum Kalibrieren eines Roboters
JP4578808B2 (ja) * 2004-01-08 2010-11-10 本田技研工業株式会社 アシスト搬送装置
JP4578809B2 (ja) * 2004-01-08 2010-11-10 本田技研工業株式会社 アシスト搬送装置
JP2014176943A (ja) * 2013-03-15 2014-09-25 Yaskawa Electric Corp ロボットシステム、校正方法及び被加工物の製造方法
CN103707292B (zh) * 2013-12-30 2015-08-19 上海交通大学 基于xyz直角坐标关节和姿态腕的6自由度工业机器人
TW201600275A (zh) * 2014-06-26 2016-01-01 Hiwin Tech Corp 機械手臂系統及其平行度校正方法
US10331105B2 (en) * 2015-08-07 2019-06-25 Spm Automation (Canada) Inc. Machine for self-adjusting its operation to compensate for part-to-part variations
EP3703987A1 (en) * 2017-11-03 2020-09-09 Starship Technologies OÜ Device, system and method for storing, safeguarding and maintaining a mobile robot
WO2022074448A1 (en) * 2020-10-06 2022-04-14 Mark Oleynik Robotic kitchen hub systems and methods for minimanipulation library adjustments and calibrations of multi-functional robotic platforms for commercial and residential environments with artificial intelligence and machine learning
GB2616844A (en) * 2022-03-20 2023-09-27 True Position Robotics Ltd Robot guidance using multiple frames

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51141165A (en) * 1975-05-29 1976-12-04 Toshiba Corp Reference position adjusting system for industrial robot
SE443531B (sv) * 1978-11-27 1986-03-03 Asea Ab Industrirobotutrustning
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
JPH065486B2 (ja) * 1981-03-26 1994-01-19 株式会社安川電機 ロボットの軌跡制御方法
US4372721A (en) * 1981-05-18 1983-02-08 Nordson Corporation Apparatus for calibrating link position transducers of a teaching robot and a work robot

Also Published As

Publication number Publication date
DK357684A (da) 1985-01-23
EP0132616B1 (en) 1987-05-27
NO159065B (no) 1988-08-22
FI842847A0 (fi) 1984-07-16
FI842847A (fi) 1985-01-23
FI76275C (sv) 1988-10-10
EP0132616A1 (en) 1985-02-13
FI76275B (fi) 1988-06-30
US4581566A (en) 1986-04-08
DE3463912D1 (en) 1987-07-02
NO842908L (no) 1985-01-23
DK357684D0 (da) 1984-07-20
SE8304101D0 (sv) 1983-07-22
JPH0429516B2 (sv) 1992-05-19
JPS6025681A (ja) 1985-02-08
NO159065C (no) 1988-11-30

Similar Documents

Publication Publication Date Title
SE8304101L (sv) System for automatisk kalibrering av rymdkoordinater hos en robotgripper i sex frihetsgrader
SE8304100L (sv) System for automatisk kalibrering av rymdkoordinaterna hos en robotgripper i sex frihetsgrader
US5239855A (en) Positional calibration of robotic arm joints relative to the gravity vector
US20180021955A1 (en) Robot zero-point calibration device and method
DE3886767D1 (de) Kalibrierungssystem für koordinatenmessvorrichtung.
EP0040359A3 (en) Method and device for measuring an angle
EP0361663A3 (en) Method and system for a robot path
DE58903515D1 (de) Pruefkoerper fuer koordinatenmessgeraete.
CA2139392A1 (en) Continuously Calibrating Temperature Controller
EP0301527A3 (en) Device and method for correction of robot inaccuracy
DE3875790D1 (de) Flexible cnc-vielstellenmesseinrichtung.
US5740328A (en) Apparatus for robotic positional referencing and calibration
JP2001050741A (ja) ロボットのキャリブレーション方法及び装置
DE50101308D1 (de) Weitgehend selbsttätige Kalibrierung eines Betätigungsarmes eines Roboters
SE8204547D0 (sv) Nollsokande system
GB9914918D0 (en) Method and apparatus for calibrating a first co-ordinate frame of an indexing means in a second frame of a sensing means
JP2640339B2 (ja) ロボット定数の自動補正方法
ATE110840T1 (de) Eichen von messapparaten.
JPS6437603A (en) Locus control system for robot
KR930016204A (ko) 온도변화에 의한 로보트 팔길이 보정용 캘리브레이션 시스템(calibration system)
RU2084820C1 (ru) Способ ориентации инструмента манипулятора относительно поверхности
JPS6446808A (en) Correcting system for position shift of commodity transfer device
KR920010575B1 (ko) 로보트의 미세한 위치설정을 위한 위치보정시스템
JPS5922104A (ja) ロボツト可動腕の制御方法およびその装置
JPH02185383A (ja) ロボット制御装置

Legal Events

Date Code Title Description
NAV Patent application has lapsed

Ref document number: 8304101-2

Format of ref document f/p: F