SE9700767D0 - Förfarande för bestämning av lastparametrar hos en industrirobot - Google Patents

Förfarande för bestämning av lastparametrar hos en industrirobot

Info

Publication number
SE9700767D0
SE9700767D0 SE9700767A SE9700767A SE9700767D0 SE 9700767 D0 SE9700767 D0 SE 9700767D0 SE 9700767 A SE9700767 A SE 9700767A SE 9700767 A SE9700767 A SE 9700767A SE 9700767 D0 SE9700767 D0 SE 9700767D0
Authority
SE
Sweden
Prior art keywords
calculated
movement
manipulator
axes
motor
Prior art date
Application number
SE9700767A
Other languages
English (en)
Inventor
Torgny Brogaardh
Stig Moberg
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 SE9700767A priority Critical patent/SE9700767D0/sv
Publication of SE9700767D0 publication Critical patent/SE9700767D0/sv
Priority to US09/367,504 priority patent/US6343243B1/en
Priority to PCT/SE1998/000365 priority patent/WO1998042482A1/en
Priority to JP53894698A priority patent/JP2001526594A/ja
Priority to EP98908390A priority patent/EP1021281A1/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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • G05B2219/39007—Calibrate by switching links to mirror position, tip remains on reference point
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40527—Modeling, identification of link parameters

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
SE9700767A 1997-03-04 1997-03-04 Förfarande för bestämning av lastparametrar hos en industrirobot SE9700767D0 (sv)

Priority Applications (5)

Application Number Priority Date Filing Date Title
SE9700767A SE9700767D0 (sv) 1997-03-04 1997-03-04 Förfarande för bestämning av lastparametrar hos en industrirobot
US09/367,504 US6343243B1 (en) 1997-03-04 1998-03-02 Method for determining load parameters for a manipulator
PCT/SE1998/000365 WO1998042482A1 (en) 1997-03-04 1998-03-02 A method for determining load parameters for a manipulator
JP53894698A JP2001526594A (ja) 1997-03-04 1998-03-02 マニピュレータにおける荷重パラメータの決定方法
EP98908390A EP1021281A1 (en) 1997-03-04 1998-03-02 A method for determining load parameters for a manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9700767A SE9700767D0 (sv) 1997-03-04 1997-03-04 Förfarande för bestämning av lastparametrar hos en industrirobot

Publications (1)

Publication Number Publication Date
SE9700767D0 true SE9700767D0 (sv) 1997-03-04

Family

ID=20406012

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9700767A SE9700767D0 (sv) 1997-03-04 1997-03-04 Förfarande för bestämning av lastparametrar hos en industrirobot

Country Status (5)

Country Link
US (1) US6343243B1 (sv)
EP (1) EP1021281A1 (sv)
JP (1) JP2001526594A (sv)
SE (1) SE9700767D0 (sv)
WO (1) WO1998042482A1 (sv)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115816461A (zh) * 2022-12-26 2023-03-21 睿尔曼智能科技（北京）有限公司 一种机械臂负载质心范围计算与负载曲线图绘制方法

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DE10010689C1 (de) * 2000-03-04 2001-04-12 Kloeckner Desma Schuhmaschinen Verfahren und Vorrichtung zum exakten Führen eines Bearbeitungswerkzeugs mit einem Roboter
DE10223670A1 (de) * 2002-05-28 2003-12-18 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bewegen eines Handhabungssystems
DE10236938A1 (de) * 2002-08-12 2004-03-11 Siemens Ag Masseermittlung bei automatischen Schiebe- und Aufzugtürsteuerungen
WO2006117022A1 (en) * 2005-05-02 2006-11-09 Abb Research Ltd A method for control of an industrial robot
AT504927B1 (de) 2007-03-02 2009-04-15 Engel Austria Gmbh Tragheitserkennung bei einer spritzgiessmaschine
JP4256440B2 (ja) * 2007-08-10 2009-04-22 ファナック株式会社 ロボットプログラム調整装置
US8660758B2 (en) 2007-11-30 2014-02-25 Caterpillar Inc. Payload system with center of gravity compensation
DE102008001664B4 (de) * 2008-05-08 2015-07-30 Deutsches Zentrum für Luft- und Raumfahrt e.V. Medizinischer Roboter und Verfahren zur Erfüllung der Performanceanforderung eines medizinischen Roboters
JP5550468B2 (ja) * 2010-06-30 2014-07-16 キヤノン株式会社 力覚センサの校正方法
DE102011006992A1 (de) * 2011-04-07 2013-05-08 Kuka Roboter Gmbh Verfahren und Handhabungssystem zum automatisierten Bewegen eines schwerkraftkompensierten Lastkörpers
CN104321167B (zh) 2012-06-26 2016-09-14 Abb技术有限公司 调节动态机器人模型的参数
WO2014021433A1 (ja) * 2012-08-02 2014-02-06 東芝機械株式会社 ロボット装置およびその制御方法
KR102438357B1 (ko) 2016-07-01 2022-09-01 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 컴퓨터 보조 의료 시스템 및 방법
JP6846607B2 (ja) * 2016-12-16 2021-03-24 パナソニックＩｐマネジメント株式会社 ロボットの制御方法
JP6795540B2 (ja) * 2018-04-24 2020-12-02 ファナック株式会社 ロボットを用いた負荷の重量及び重心位置を推定するための装置、方法及びプログラム
CN111618857B (zh) * 2020-05-28 2021-04-20 杭州键嘉机器人有限公司 一种机械臂的多负载自适应重力补偿方法
EP4304816A1 (en) * 2021-03-11 2024-01-17 Abb Schweiz Ag Method of handling manipulator, control system and industrial robot
CN113979223B (zh) * 2021-10-29 2023-04-07 广东韶钢松山股份有限公司 一种集卷托盘负载计算方法
CN113894792A (zh) * 2021-11-05 2022-01-07 遨博（北京）智能科技有限公司 一种机器人负载辨识方法、控制柜及系统

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4969108A (en) * 1988-04-08 1990-11-06 Cincinnati Milacron Inc. Vision seam tracking method and apparatus for a manipulator
US5402049A (en) * 1992-12-18 1995-03-28 Georgia Tech Research Corporation System and method for controlling a variable reluctance spherical motor
US5825308A (en) * 1996-11-26 1998-10-20 Immersion Human Interface Corporation Force feedback interface having isotonic and isometric functionality
US5767648A (en) * 1996-04-19 1998-06-16 Massachusetts Institute Of Technology Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof
DE19814630B4 (de) * 1998-03-26 2011-09-29 Carl Zeiss Verfahren und Vorrichtung zum handgesteuerten Führen eines Werkzeuges in einem vorgegebenen Bewegungsbereich

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115816461A (zh) * 2022-12-26 2023-03-21 睿尔曼智能科技（北京）有限公司 一种机械臂负载质心范围计算与负载曲线图绘制方法
CN115816461B (zh) * 2022-12-26 2023-10-24 睿尔曼智能科技（北京）有限公司 一种机械臂负载质心范围计算与负载曲线图绘制方法

Also Published As

Publication number Publication date
WO1998042482A1 (en) 1998-10-01
JP2001526594A (ja) 2001-12-18
EP1021281A1 (en) 2000-07-26
US6343243B1 (en) 2002-01-29

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