WO2001098023A1 - Method for determining the relative position of two platforms of a six-legged machine - Google Patents

Method for determining the relative position of two platforms of a six-legged machine Download PDF

Info

Publication number
WO2001098023A1
WO2001098023A1 PCT/FR2000/001755 FR0001755W WO0198023A1 WO 2001098023 A1 WO2001098023 A1 WO 2001098023A1 FR 0001755 W FR0001755 W FR 0001755W WO 0198023 A1 WO0198023 A1 WO 0198023A1
Authority
WO
WIPO (PCT)
Prior art keywords
platforms
hexapod
relative position
determining
plates
Prior art date
Application number
PCT/FR2000/001755
Other languages
French (fr)
Inventor
François Wildenberg
Original Assignee
Constructions Mecaniques Des Vosges-Marioni
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 Constructions Mecaniques Des Vosges-Marioni filed Critical Constructions Mecaniques Des Vosges-Marioni
Priority to AU2000259904A priority Critical patent/AU2000259904A1/en
Priority to PCT/FR2000/001755 priority patent/WO2001098023A1/en
Publication of WO2001098023A1 publication Critical patent/WO2001098023A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair

Definitions

  • the invention relates to a method for measuring directly or indirectly in a hexapod machine (such as for example but not limited to that which is the subject of patent application No. 98 05682 in the name of the applicant), the various parameters required to the knowledge or control of the position of the two plates of such a hexapod, one relative to the other.
  • a hexapod machine such as for example but not limited to that which is the subject of patent application No. 98 05682 in the name of the applicant
  • - external means such as: triangulation, theodolite, GPS, etc.
  • this result is obtained with a method making it possible to measure directly or indirectly in a hexapod machine the various parameters necessary for knowing or controlling the position of the two plates of such a hexapod, one with respect to the 'other, characterized in that the control of the position of the two plates of the hexapod relative to each other is implemented by a number of parameter measurements greater than six.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention concerns a method for measuring directly or indirectly in a six-legged machine the different parameters for finding out or controlling the position of two platforms of such a six-legged machine relative to each other. The invention is characterised in that the control of the position of two platforms of the six-legged machine relative to each other is carried out by a number exceeding six parameter measurements.

Description

I I
Procédé pour déterminer la position relative des deux plateaux d'un hexapodeMethod for determining the relative position of the two plates of a hexapod
L'invention a pour objet un procédé permettant de mesurer directement ou indirectement dans une machine hexapode (telle que par exemple mais non limitativement celle faisant l'objet de la demande de brevet n° 98 05682 au nom du demandeur), les différents paramètres nécessaires à la connaissance ou au contrôle de la position des deux plateaux d'un tel hexapode, l'un par rapport à l'autre.The invention relates to a method for measuring directly or indirectly in a hexapod machine (such as for example but not limited to that which is the subject of patent application No. 98 05682 in the name of the applicant), the various parameters required to the knowledge or control of the position of the two plates of such a hexapod, one relative to the other.
Ces mesures peuvent être réalisées conjointement ou alternativement par : des moyens internes tels que : règles linéaires, codeurs rotatifs, lasers, rubans- colle, niveaux, etc..These measurements can be carried out jointly or alternatively by: internal means such as: linear rules, rotary encoders, lasers, tape, levels, etc.
- des moyens externes tels que : triangulation, théodolite, GPS, etc..- external means such as: triangulation, theodolite, GPS, etc.
Ces différents moyens permettent de mesurer les longueurs des jambes, les angulations des jambes, des articulation, des plateaux, etc..These various means make it possible to measure the lengths of the legs, the angulations of the legs, of the articulations, of the plates, etc.
En théorie et dans la pratique, six mesures sont suffisantes pour connaître ou contrôler la position relative des deux plateaux l'un par rapport à l'autre.In theory and in practice, six measurements are sufficient to know or control the relative position of the two plates relative to each other.
Etant donné l'extrême précision demandée de manière accrue pour ce type de produit, il est apparu qu'il était souhaitable de rechercher encore une amélioration de la précision, voire une accélération des calculs et/ou un auto calibrage de l'hexapode. Conformément à l'invention ce résultat est obtenu avec un procédé permettant de mesurer directement ou indirectement dans une machine hexapode les différents paramètres nécessaires à la connaissance ou au contrôle de la position des deux plateaux d'un tel hexapode l'un par rapport à l'autre, caractérisé en ce que le contrôle de la position des deux plateaux de l'hexapode l'un par rapport à l'autre est mis en oeuvre par un nombre de mesures de paramètres supérieur à six.Given the extreme precision demanded in an increased manner for this type of product, it appeared that it was desirable to seek further improvement of the precision, even an acceleration of the calculations and / or a self-calibration of the hexapod. In accordance with the invention, this result is obtained with a method making it possible to measure directly or indirectly in a hexapod machine the various parameters necessary for knowing or controlling the position of the two plates of such a hexapod, one with respect to the 'other, characterized in that the control of the position of the two plates of the hexapod relative to each other is implemented by a number of parameter measurements greater than six.
La mise en oeuvre d'un tel procédé implique bien entendu la mise en œuvre de logiciels spécifiques ainsi que la prévision de capteurs de mesure adéquats liés à chaque type de mesure. La mise en œuvre d'un tel procédé permet de contrôler les mesures, de les affiner, de simplifier les calculs et/ou de les accélérer. The implementation of such a method obviously involves the implementation of specific software as well as the provision of suitable measurement sensors linked to each type of measurement. The implementation of such a process makes it possible to control the measurements, to refine them, to simplify the calculations and / or to accelerate them.

Claims

REVENDICATIONS
1. Procédé permettant de mesurer directement ou indirectement dans une machine hexapode les différents paramètres nécessaires à la connaissance ou au contrôle de la position des deux plateaux d'un tel hexapode l'un par rapport à l'autre, caractérisé en ce que le contrôle de la position des deux plateaux de l'hexapode l'un par rapport à l'autre est mis en œuvre par un nombre de mesures de paramètres supérieur à six. 1. Method for directly or indirectly measuring in a hexapod machine the various parameters necessary for knowing or controlling the position of the two plates of such a hexapod relative to one another, characterized in that the control the position of the two plates of the hexapod relative to each other is implemented by a number of parameter measurements greater than six.
PCT/FR2000/001755 2000-06-23 2000-06-23 Method for determining the relative position of two platforms of a six-legged machine WO2001098023A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2000259904A AU2000259904A1 (en) 2000-06-23 2000-06-23 Method for determining the relative position of two platforms of a six-legged machine
PCT/FR2000/001755 WO2001098023A1 (en) 2000-06-23 2000-06-23 Method for determining the relative position of two platforms of a six-legged machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/FR2000/001755 WO2001098023A1 (en) 2000-06-23 2000-06-23 Method for determining the relative position of two platforms of a six-legged machine

Publications (1)

Publication Number Publication Date
WO2001098023A1 true WO2001098023A1 (en) 2001-12-27

Family

ID=8846940

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2000/001755 WO2001098023A1 (en) 2000-06-23 2000-06-23 Method for determining the relative position of two platforms of a six-legged machine

Country Status (2)

Country Link
AU (1) AU2000259904A1 (en)
WO (1) WO2001098023A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1725916A2 (en) * 2004-02-04 2006-11-29 Mazor Surgical Technologies Ltd. Verification system for robot pose
EP2732934A3 (en) * 2012-11-16 2014-08-06 CVUT V Praze, Fakulta Strojní A device for measuring a position of an end effector, especially of a manipulator or a machining tool

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2144711A (en) * 1983-07-25 1985-03-13 Onera (Off Nat Aerospatiale) Active compliant articulated device
FR2610236A1 (en) * 1987-02-04 1988-08-05 Logabex REDUNDANT ROBOT OF MODULAR TYPE
US5354158A (en) * 1989-09-01 1994-10-11 Kearney & Trecker Corporation Six axis machine tool
US5392663A (en) * 1991-08-26 1995-02-28 The Ingersoll Milling Machine Company Octahedral machine tool frame
US5681981A (en) * 1994-01-28 1997-10-28 Renishaw Plc Performing measurement or calibration on positioning machines
EP0834383A1 (en) * 1996-10-07 1998-04-08 Gec Alsthom Systemes Et Services Sa Robot with a parallel structure
US5940180A (en) * 1994-10-11 1999-08-17 Giddings & Lewis Laser interferometer measurement system for use with machine tools
US5987726A (en) * 1996-03-11 1999-11-23 Fanuc Robotics North America, Inc. Programmable positioner for the stress-free assembly of components
FR2779086A1 (en) * 1998-04-27 1999-12-03 Const Mecaniques Des Vosges Ma COMPENSATOR SYSTEM FOR HEXAPODE

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2144711A (en) * 1983-07-25 1985-03-13 Onera (Off Nat Aerospatiale) Active compliant articulated device
FR2610236A1 (en) * 1987-02-04 1988-08-05 Logabex REDUNDANT ROBOT OF MODULAR TYPE
US5354158A (en) * 1989-09-01 1994-10-11 Kearney & Trecker Corporation Six axis machine tool
US5392663A (en) * 1991-08-26 1995-02-28 The Ingersoll Milling Machine Company Octahedral machine tool frame
US5681981A (en) * 1994-01-28 1997-10-28 Renishaw Plc Performing measurement or calibration on positioning machines
US5940180A (en) * 1994-10-11 1999-08-17 Giddings & Lewis Laser interferometer measurement system for use with machine tools
US5987726A (en) * 1996-03-11 1999-11-23 Fanuc Robotics North America, Inc. Programmable positioner for the stress-free assembly of components
EP0834383A1 (en) * 1996-10-07 1998-04-08 Gec Alsthom Systemes Et Services Sa Robot with a parallel structure
FR2779086A1 (en) * 1998-04-27 1999-12-03 Const Mecaniques Des Vosges Ma COMPENSATOR SYSTEM FOR HEXAPODE

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1725916A2 (en) * 2004-02-04 2006-11-29 Mazor Surgical Technologies Ltd. Verification system for robot pose
EP1725916A4 (en) * 2004-02-04 2008-08-13 Mazor Surgical Tech Ltd Verification system for robot pose
US8442677B2 (en) 2004-02-04 2013-05-14 Mazor Surgical Technologies, Ltd. Verification system for robot pose
EP2732934A3 (en) * 2012-11-16 2014-08-06 CVUT V Praze, Fakulta Strojní A device for measuring a position of an end effector, especially of a manipulator or a machining tool

Also Published As

Publication number Publication date
AU2000259904A1 (en) 2002-01-02

Similar Documents

Publication Publication Date Title
WO2002090879A3 (en) Method for determining the properties of a co-ordinate measuring device and test object associated therewith
US20080028824A1 (en) Calibration Method
ATE512625T1 (en) MEASURING THE ANGLE BETWEEN A FIRST LINK AND A SECOND LINK UNDER DYNAMIC CONDITIONS
KR19980040121A (en) Three dimensional measurement method of multi-axis machine
CN105556253A (en) Reducing errors of a rotary device, in particular for the determination of coordinates of a workpiece or the machining of a workpiece
US20110292404A1 (en) Method for machine measurement
EP2094437A1 (en) Method and device for the compensation of geometrical errors in machining machinery
US8219353B2 (en) Absolute diameter measurement arm
Joubair et al. Kinematic calibration of a 3‐DOF planar parallel robot
KR102110004B1 (en) Method and device for determining a machining axis
AU2012282360A1 (en) Method and arrangement for calibrating sensors in drilling equipment
WO2001098023A1 (en) Method for determining the relative position of two platforms of a six-legged machine
CN1042416A (en) Macro-axis circularity, beat clinical measurement method and instrument
MY132776A (en) Method and device for determining an angular error and use of the device
CN106132637A (en) A kind of method of the installation process for nipple
ATE289897T1 (en) CALIBRATION OF A VISUALLY GUIDED ROBOT WITH TWO IMAGE RECORDERS
US20110246113A1 (en) Feedback apparatus and feedback method for controlling a servomotor
WO2003090172A3 (en) Calibration software for surface reconstruction of small objects
CN112344895B (en) Method for establishing and calibrating multi-parameter model of articulated arm coordinate measuring machine
FR2793316A1 (en) Procedure for determining the relative positions of two plates on a hexapode machine, comprises sensors and programs to process at least six parameters such as length of legs and their angles
CN108075703B (en) Method for reducing synchronous ripple of a permanently excited electric motor
CN108917606A (en) A kind of automobile crane axle journal precision measure tooling
DE50308458D1 (en) METHOD FOR DETERMINING AND COMPENSATING GEOMETRIC ERRORS OF A ROTATING GEAR
FR2870335A1 (en) THREE-DIMENSIONAL MACHINE WITH SIMULTANEOUS MEASUREMENTS
RU2239785C2 (en) Method of differential measurement of deviation from roundness

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CR CU CZ DE DK DM DZ EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP