SE9000273D0 - PROCEDURE AND DEVICE FOR CALIBRATION OF MOVEMENT SHAFT OF AN INDUSTRIAL ROBOT - Google Patents

PROCEDURE AND DEVICE FOR CALIBRATION OF MOVEMENT SHAFT OF AN INDUSTRIAL ROBOT

Info

Publication number
SE9000273D0
SE9000273D0 SE9000273A SE9000273A SE9000273D0 SE 9000273 D0 SE9000273 D0 SE 9000273D0 SE 9000273 A SE9000273 A SE 9000273A SE 9000273 A SE9000273 A SE 9000273A SE 9000273 D0 SE9000273 D0 SE 9000273D0
Authority
SE
Sweden
Prior art keywords
robot
calibration
industrial robot
procedure
position indicator
Prior art date
Application number
SE9000273A
Other languages
Swedish (sv)
Other versions
SE9000273L (en
SE469469B (en
Inventor
A Holmer
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 SE9000273A priority Critical patent/SE469469B/en
Publication of SE9000273D0 publication Critical patent/SE9000273D0/en
Publication of SE9000273L publication Critical patent/SE9000273L/en
Publication of SE469469B publication Critical patent/SE469469B/en

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

Landscapes

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

Abstract

In a calibration process for an industrial robot 2-6, a calibration tool 8 supported by the robot hand 6 is guided into contact with a calibration body 7 with known position in the base system of the robot. After this, the output signals from the position indicators of the robot axes are read off and stored. This process is repeated a number of times with different robot configurations. Thereafter the offset values of the position indicator of the robot are calculated on the basis of the kinematic equations of the robot, a model of the correlation between axis position and position indicator signal, those coordinates in the basic system which are known in the calibration positions and the read-off and stored position indicator signals. <IMAGE>
SE9000273A 1990-01-26 1990-01-26 Process and device for calibrating motional axes of an industrial robot SE469469B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SE9000273A SE469469B (en) 1990-01-26 1990-01-26 Process and device for calibrating motional axes of an industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9000273A SE469469B (en) 1990-01-26 1990-01-26 Process and device for calibrating motional axes of an industrial robot

Publications (3)

Publication Number Publication Date
SE9000273D0 true SE9000273D0 (en) 1990-01-26
SE9000273L SE9000273L (en) 1991-07-27
SE469469B SE469469B (en) 1993-07-12

Family

ID=20378357

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9000273A SE469469B (en) 1990-01-26 1990-01-26 Process and device for calibrating motional axes of an industrial robot

Country Status (1)

Country Link
SE (1) SE469469B (en)

Also Published As

Publication number Publication date
SE9000273L (en) 1991-07-27
SE469469B (en) 1993-07-12

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