SI3826812T1 - Postopek in krmilni sistem za kalibriranje manipulacijske naprave - Google Patents

Postopek in krmilni sistem za kalibriranje manipulacijske naprave

Info

Publication number
SI3826812T1
SI3826812T1 SI201930340T SI201930340T SI3826812T1 SI 3826812 T1 SI3826812 T1 SI 3826812T1 SI 201930340 T SI201930340 T SI 201930340T SI 201930340 T SI201930340 T SI 201930340T SI 3826812 T1 SI3826812 T1 SI 3826812T1
Authority
SI
Slovenia
Prior art keywords
calibrating
control system
handling device
handling
control
Prior art date
Application number
SI201930340T
Other languages
English (en)
Inventor
Arsalan Mehdi
Christian Dany
Manuel Kollmuss
Erhard Beer
Original Assignee
Krones Aktiengesellschaft
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 Krones Aktiengesellschaft filed Critical Krones Aktiengesellschaft
Publication of SI3826812T1 publication Critical patent/SI3826812T1/sl

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
    • 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • G05B2219/39024—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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40267—Parallel manipulator, end effector connected to at least two independent links
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42304—Load, torque threshold as function of speed
    • 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
    • G05B2219/50391—Robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
SI201930340T 2018-07-24 2019-05-16 Postopek in krmilni sistem za kalibriranje manipulacijske naprave SI3826812T1 (sl)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102018117802.6A DE102018117802A1 (de) 2018-07-24 2018-07-24 Verfahren und Steuerungssystem zur Kalibrierung einer Handhabungsvorrichtung, insbesondere eines Parallelkinematik-Roboters
PCT/EP2019/062603 WO2020020505A1 (de) 2018-07-24 2019-05-16 Verfahren und steuerungssystem zur kalibrierung einer handhabungsvorrichtung
EP19725330.5A EP3826812B1 (de) 2018-07-24 2019-05-16 Verfahren und steuerungssystem zur kalibrierung einer handhabungsvorrichtung

Publications (1)

Publication Number Publication Date
SI3826812T1 true SI3826812T1 (sl) 2022-11-30

Family

ID=66625175

Family Applications (1)

Application Number Title Priority Date Filing Date
SI201930340T SI3826812T1 (sl) 2018-07-24 2019-05-16 Postopek in krmilni sistem za kalibriranje manipulacijske naprave

Country Status (7)

Country Link
US (1) US11964395B2 (sl)
EP (1) EP3826812B1 (sl)
CN (1) CN112368117B (sl)
DE (1) DE102018117802A1 (sl)
ES (1) ES2926964T3 (sl)
SI (1) SI3826812T1 (sl)
WO (1) WO2020020505A1 (sl)

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* Cited by examiner, † Cited by third party
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CN114617114A (zh) * 2022-04-19 2022-06-14 浙江理工大学 一种太阳能除草机器人及其控制方法
CN115535609B (zh) * 2022-08-15 2024-08-30 安徽浙云科技有限公司 一种可远程操控确定搬运路径的搬运机器人
CN117213828B (zh) * 2023-11-07 2024-01-09 广州信邦智能装备股份有限公司 一种扭力品质检测机器人

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JP4275632B2 (ja) 2005-03-01 2009-06-10 新日本工機株式会社 パラレルメカニズム機構のキャリブレーション方法、キャリブレーションの検証方法、キャリブレーションの検証プログラム、データ採取方法及び空間位置補正における補正データ採取方法
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JP4598864B2 (ja) 2009-01-29 2010-12-15 ファナック株式会社 パラレルロボット
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DE102009057585B4 (de) * 2009-12-09 2013-11-28 Multivac Sepp Haggenmüller Gmbh & Co. Kg Verfahren zum Kalibrieren eines Roboters
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JP2016221645A (ja) * 2015-06-02 2016-12-28 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
KR20160143034A (ko) * 2015-06-04 2016-12-14 한화테크윈 주식회사 델타 로봇 캘리브레이션 방법 및 델타 로봇 캘리브레이션 장치
DE102015219610A1 (de) * 2015-10-09 2017-04-13 Krones Aktiengesellschaft Parallelkinematik-Roboter und Verfahren zu dessen Handhabung
JP6558850B2 (ja) * 2015-10-13 2019-08-14 株式会社ミツバ ロボット装置およびパラレルロボット
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Also Published As

Publication number Publication date
DE102018117802A1 (de) 2020-01-30
US11964395B2 (en) 2024-04-23
ES2926964T3 (es) 2022-10-31
US20210347055A1 (en) 2021-11-11
EP3826812A1 (de) 2021-06-02
WO2020020505A1 (de) 2020-01-30
CN112368117B (zh) 2024-04-02
CN112368117A (zh) 2021-02-12
EP3826812B1 (de) 2022-07-20

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