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WO1990000109A1 - Procede automatique d'etablissement de donnees nominales pour un systeme de capteur visuel - Google Patents

Procede automatique d'etablissement de donnees nominales pour un systeme de capteur visuel

Info

Publication number
WO1990000109A1
WO1990000109A1 PCT/JP1989/000661 JP8900661W WO1990000109A1 WO 1990000109 A1 WO1990000109 A1 WO 1990000109A1 JP 8900661 W JP8900661 W JP 8900661W WO 1990000109 A1 WO1990000109 A1 WO 1990000109A1
Authority
WO
Grant status
Application
Patent type
Prior art keywords
data
nominal
system
sensor
visual
Prior art date
Application number
PCT/JP1989/000661
Other languages
English (en)
French (fr)
Inventor
Atsushi Watanabe
Original Assignee
Fanuc Ltd
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

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697Vision controlled systems
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/42Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
    • G05B19/4207Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/36Nc in input of data, input key till input tape
    • G05B2219/36417Programmed coarse position, fine position by alignment, follow line, path adaptive
PCT/JP1989/000661 1988-07-01 1989-06-30 Procede automatique d'etablissement de donnees nominales pour un systeme de capteur visuel WO1990000109A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP63/162657 1988-07-01
JP16265788A JPH0213804A (en) 1988-07-01 1988-07-01 Nominal setting system for vision sensor

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE1989626614 DE68926614T2 (de) 1988-07-01 1989-06-30 Automatisches sollwert-bereitstellungsverfahren für ein sichtsensorsystem
DE1989626614 DE68926614D1 (de) 1988-07-01 1989-06-30 Automatisches sollwert-bereitstellungsverfahren für ein sichtsensorsystem
EP19890907821 EP0378703B1 (en) 1988-07-01 1989-06-30 Nominal data automatic setting method of visual sensor system

Publications (1)

Publication Number Publication Date
WO1990000109A1 true true WO1990000109A1 (fr) 1990-01-11

Family

ID=15758796

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1989/000661 WO1990000109A1 (fr) 1988-07-01 1989-06-30 Procede automatique d'etablissement de donnees nominales pour un systeme de capteur visuel

Country Status (5)

Country Link
US (1) US5066902A (ja)
EP (1) EP0378703B1 (ja)
JP (1) JPH0213804A (ja)
DE (2) DE68926614D1 (ja)
WO (1) WO1990000109A1 (ja)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2806604B2 (ja) * 1990-06-29 1998-09-30 ファナック株式会社 カメラの位置ずれ検出方法
US6356671B1 (en) * 1991-07-05 2002-03-12 Fanuc Ltd. Image processing method for an industrial visual sensor
JP2764485B2 (ja) * 1991-08-27 1998-06-11 ファナック株式会社 リアルタイムセンサの診断方法
US5255096B1 (en) * 1992-04-10 1997-12-23 William M Boyle Video time code synchronized robot control apparatus
JP2769947B2 (ja) * 1992-05-15 1998-06-25 株式会社椿本チエイン マニピュレータの位置・姿勢制御方法
US5606494A (en) * 1993-11-25 1997-02-25 Casio Computer Co., Ltd. Switching apparatus
JP3394322B2 (ja) * 1994-05-19 2003-04-07 ファナック株式会社 視覚センサを用いた座標系設定方法
US5853330A (en) * 1994-06-02 1998-12-29 Engstrand; Brad Sensory simulator and editor
US5496220A (en) * 1994-06-02 1996-03-05 Brad Engstrand Sensory simulator
JP3418456B2 (ja) * 1994-06-23 2003-06-23 ファナック株式会社 ロボット位置教示具及びロボット位置教示方法
JPH0970780A (ja) * 1995-09-06 1997-03-18 Fanuc Ltd ロボットのツール形状補正方式
US6136653A (en) 1998-05-11 2000-10-24 Mosel Vitelic, Inc. Method and device for producing undercut gate for flash memory
US6039653A (en) * 1998-11-16 2000-03-21 Engstrand; Brad Apparatus, system and method for experiencing motion
DE10120948C1 (de) * 2001-04-23 2002-11-28 Schunk Gmbh & Co Kg Sensorsystem für ein Greifersystem sowie Greifersystem
US7870504B1 (en) 2003-10-01 2011-01-11 TestPlant Inc. Method for monitoring a graphical user interface on a second computer display from a first computer
JP5939267B2 (ja) * 2014-03-05 2016-06-22 株式会社安川電機 ロボット監視システム、ロボット監視装置、ロボット監視方法、ロボット監視モジュール、およびロボット監視プログラム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50112969A (ja) * 1974-02-18 1975-09-04
JPS52115064A (en) * 1976-03-24 1977-09-27 Hitachi Ltd Method of controlling operation of industrial robot
JPS61173878A (en) * 1985-01-30 1986-08-05 Hitachi Ltd Individual-difference corresponding teach data correction system of robot
JPS61279480A (en) * 1985-06-04 1986-12-10 Nat Aerospace Lab Method of teaching operation point of robot
JPH06198410A (ja) * 1993-01-11 1994-07-19 Nippon Steel Corp 連続鋳造における軽圧下法
JPH06292079A (ja) * 1993-04-05 1994-10-18 Nec Corp 映像スイッチャの自己診断装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5856003A (en) * 1981-09-30 1983-04-02 Hitachi Ltd Controlling method for industrial robot
JPS59189415A (en) * 1983-04-13 1984-10-27 Hitachi Ltd Method and device for teaching motion of industrial robot
JPH0345768B2 (ja) * 1983-08-08 1991-07-12 Amada Co Ltd
JPS60196604A (en) * 1984-03-19 1985-10-05 Tokico Ltd Industrial robot
JPS60263681A (en) * 1984-06-08 1985-12-27 Hitachi Ltd Instruction method of robot
JPS61130809A (en) * 1984-11-30 1986-06-18 Mitsubishi Electric Corp Visual sensor
JPH0619335B2 (ja) * 1985-01-25 1994-03-16 シグマツクス株式会社 物体認識装置
US4704694A (en) * 1985-12-16 1987-11-03 Automation Intelligence, Inc. Learned part system
JPS62145104A (en) * 1985-12-19 1987-06-29 Fanuc Ltd Controlling method for vision system
US4707647A (en) * 1986-05-19 1987-11-17 Gmf Robotics Corporation Gray scale vision method and system utilizing same
US4757459A (en) * 1986-05-29 1988-07-12 Cincinnati Milacron Inc. Apparatus and method for programming a computer operated robot arm using macro instructions

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50112969A (ja) * 1974-02-18 1975-09-04
JPS52115064A (en) * 1976-03-24 1977-09-27 Hitachi Ltd Method of controlling operation of industrial robot
JPS61173878A (en) * 1985-01-30 1986-08-05 Hitachi Ltd Individual-difference corresponding teach data correction system of robot
JPS61279480A (en) * 1985-06-04 1986-12-10 Nat Aerospace Lab Method of teaching operation point of robot
JPH06198410A (ja) * 1993-01-11 1994-07-19 Nippon Steel Corp 連続鋳造における軽圧下法
JPH06292079A (ja) * 1993-04-05 1994-10-18 Nec Corp 映像スイッチャの自己診断装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP0378703A4 *

Also Published As

Publication number Publication date Type
EP0378703B1 (en) 1996-06-05 grant
JPH0213804A (en) 1990-01-18 application
EP0378703A4 (en) 1992-07-22 application
DE68926614T2 (de) 1996-10-02 grant
EP0378703A1 (en) 1990-07-25 application
DE68926614D1 (de) 1996-07-11 grant
US5066902A (en) 1991-11-19 grant

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