TW202314413A - 校正機構誤差參數的校正裝置及判定校正機構誤差參數之必要性的判定裝置 - Google Patents
校正機構誤差參數的校正裝置及判定校正機構誤差參數之必要性的判定裝置 Download PDFInfo
- Publication number
- TW202314413A TW202314413A TW111132697A TW111132697A TW202314413A TW 202314413 A TW202314413 A TW 202314413A TW 111132697 A TW111132697 A TW 111132697A TW 111132697 A TW111132697 A TW 111132697A TW 202314413 A TW202314413 A TW 202314413A
- Authority
- TW
- Taiwan
- Prior art keywords
- robot
- coordinate system
- state
- reference coordinate
- mechanism error
- Prior art date
Links
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
-
- 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
- B25J13/089—Determining the position of the robot with reference to its environment
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| WOPCT/JP2021/035409 | 2021-09-27 | ||
| PCT/JP2021/035409 WO2023047591A1 (ja) | 2021-09-27 | 2021-09-27 | 機構誤差パラメータを較正する較正装置および機構誤差パラメータの較正の必要性を判定する判定装置 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TW202314413A true TW202314413A (zh) | 2023-04-01 |
Family
ID=85720309
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW111132697A TW202314413A (zh) | 2021-09-27 | 2022-08-30 | 校正機構誤差參數的校正裝置及判定校正機構誤差參數之必要性的判定裝置 |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US20240375284A1 (https=) |
| JP (1) | JP7680553B2 (https=) |
| CN (1) | CN118043174A (https=) |
| DE (1) | DE112021007764T5 (https=) |
| TW (1) | TW202314413A (https=) |
| WO (1) | WO2023047591A1 (https=) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN121548486A (zh) * | 2023-08-01 | 2026-02-17 | 发那科株式会社 | 控制装置、参数校正方法以及程序 |
| CN119610110A (zh) * | 2024-12-18 | 2025-03-14 | 节卡机器人股份有限公司 | 机器人运动指令的校正方法、装置和非易失性存储介质 |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1083208A (ja) | 1996-09-05 | 1998-03-31 | Matsushita Electric Ind Co Ltd | ロボット間相対位置演算機構 |
| JP2001038662A (ja) | 1999-08-04 | 2001-02-13 | Honda Motor Co Ltd | 作業ロボットの校正方法 |
| KR100485348B1 (ko) * | 2002-07-09 | 2005-04-27 | 삼성전자주식회사 | 로봇의 캘리브레이션 방법 |
| EP2722136A1 (en) | 2012-10-19 | 2014-04-23 | inos Automationssoftware GmbH | Method for in-line calibration of an industrial robot, calibration system for performing such a method and industrial robot comprising such a calibration system |
| JP6108860B2 (ja) * | 2013-02-14 | 2017-04-05 | キヤノン株式会社 | ロボットシステム及びロボットシステムの制御方法 |
| JP6415190B2 (ja) * | 2014-09-03 | 2018-10-31 | キヤノン株式会社 | ロボット装置、ロボット制御プログラム、記録媒体、およびロボット装置の制御方法 |
| JP2019014011A (ja) | 2017-07-06 | 2019-01-31 | 株式会社不二越 | ロボットの教示位置補正方法 |
| JP6603289B2 (ja) | 2017-10-27 | 2019-11-06 | ファナック株式会社 | ロボット、ロボットシステム、およびロボットの座標系設定方法 |
| US11338441B2 (en) * | 2017-12-01 | 2022-05-24 | Delta Electronics, Inc. | Calibration system for robot tool and calibration method for the same |
| US10906184B2 (en) * | 2019-03-29 | 2021-02-02 | Mujin, Inc. | Method and control system for verifying and updating camera calibration for robot control |
| CN112677146A (zh) | 2019-10-18 | 2021-04-20 | 牧今科技 | 验证和更新机器人控制用校准信息的方法和控制系统 |
| JP7048535B2 (ja) | 2019-04-01 | 2022-04-05 | ファナック株式会社 | ロボットを制御するための機構誤差パラメータを較正するロボットの制御装置 |
| CN112643658A (zh) | 2019-10-10 | 2021-04-13 | 南京邮电大学 | 基于sir降维dh模型的串联机器人自适应误差建模的标定方法 |
| US11766782B2 (en) * | 2020-03-17 | 2023-09-26 | Applied Materials, Inc. | Calibration of an electronics processing system |
| US12030184B2 (en) * | 2021-06-09 | 2024-07-09 | eBots Inc. | System and method for error correction and compensation for 3D eye-to-hand coordination |
| JP7657936B2 (ja) | 2021-08-03 | 2025-04-07 | 京セラ株式会社 | ロボット制御装置、ロボット制御システム、及びロボット制御方法 |
-
2021
- 2021-09-27 JP JP2023549306A patent/JP7680553B2/ja active Active
- 2021-09-27 CN CN202180102497.6A patent/CN118043174A/zh active Pending
- 2021-09-27 US US18/686,870 patent/US20240375284A1/en active Pending
- 2021-09-27 DE DE112021007764.3T patent/DE112021007764T5/de active Pending
- 2021-09-27 WO PCT/JP2021/035409 patent/WO2023047591A1/ja not_active Ceased
-
2022
- 2022-08-30 TW TW111132697A patent/TW202314413A/zh unknown
Also Published As
| Publication number | Publication date |
|---|---|
| DE112021007764T5 (de) | 2024-08-22 |
| JPWO2023047591A1 (https=) | 2023-03-30 |
| WO2023047591A1 (ja) | 2023-03-30 |
| US20240375284A1 (en) | 2024-11-14 |
| CN118043174A (zh) | 2024-05-14 |
| JP7680553B2 (ja) | 2025-05-20 |
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