WO2003035333A3 - 3d-koordinatenmesssystem - Google Patents
3d-koordinatenmesssystem Download PDFInfo
- Publication number
- WO2003035333A3 WO2003035333A3 PCT/EP2002/011978 EP0211978W WO03035333A3 WO 2003035333 A3 WO2003035333 A3 WO 2003035333A3 EP 0211978 W EP0211978 W EP 0211978W WO 03035333 A3 WO03035333 A3 WO 03035333A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- measuring system
- reference body
- measurements
- coordinate measuring
- known geometry
- Prior art date
Links
Classifications
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical 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
- G05B19/401—Numerical 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
-
- 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
-
- 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
- G05B2219/39015—With different manipulator configurations, contact known sphere, ballbar
-
- 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
- G05B2219/39021—With probe, touch reference positions
-
- 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
- G05B2219/39026—Calibration of manipulator while tool is mounted
-
- 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
- G05B2219/39044—Estimate error model from error at different attitudes and points
-
- 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
- G05B2219/40562—Position and orientation of end effector, teach probe, track them
-
- 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
- G05B2219/40621—Triangulation sensor
Abstract
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10153049.8 | 2001-10-26 | ||
DE2001153049 DE10153049B4 (de) | 2001-10-26 | 2001-10-26 | 3D-Koordinationssystem |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2003035333A2 WO2003035333A2 (de) | 2003-05-01 |
WO2003035333A3 true WO2003035333A3 (de) | 2004-04-15 |
Family
ID=7703914
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2002/011978 WO2003035333A2 (de) | 2001-10-26 | 2002-10-23 | 3d-koordinatenmesssystem |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE10153049B4 (de) |
WO (1) | WO2003035333A2 (de) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1541959A1 (de) * | 2003-12-09 | 2005-06-15 | metronom AG | Vorrichtung und Verfahren zum Bestimmen von Positionskoordinaten |
DE102004026814A1 (de) * | 2004-06-02 | 2005-12-29 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Verbessern der Positioniergenauigkeit eines Handhabungsgeräts |
DE102004026813A1 (de) | 2004-06-02 | 2005-12-29 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Steuern von Handhabungsgeräten |
DE102004044590A1 (de) * | 2004-09-13 | 2006-03-30 | Behr Gmbh & Co. Kg | Messvorrichtung, insbesondere zum Einstellen eines Werkzeugs eines Bearbeitungszentrums oder einer Roboteranlage |
DE102004046752B4 (de) * | 2004-09-24 | 2010-10-21 | GOM, Gesellschaft für optische Meßtechnik mit beschränkter Haftung | Verfahren zur dreidimensionalen Erfassung von Messobjekten |
DE102004056861A1 (de) * | 2004-11-25 | 2006-06-08 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Regeln, Steuern von Manipulatoren |
EP2069713A4 (de) * | 2006-05-26 | 2012-12-26 | Corp Spg Data3D | Fotogrammetrisches system und techniken zur 3d-akuisition |
DE102007051054A1 (de) | 2007-10-19 | 2009-04-30 | Carl Zeiss Industrielle Messtechnik Gmbh | Verfahren zum Korrigieren der Messwerte eines Koordinatenmessgeräts und Koordinatenmessgerät |
DE102008060052A1 (de) | 2008-12-02 | 2010-06-17 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zur Kompensation einer kinematischen Abweichung |
DE102009005495A1 (de) | 2009-01-21 | 2010-07-22 | Kuka Roboter Gmbh | Manipulatorsystem und Verfahren zur Kompensation einer kinematischen Abweichung eines Manipulatorsystems |
DE102011082529A1 (de) | 2010-10-06 | 2012-04-12 | Macaso Gmbh | Nichtlinear wirkende Messvorrichtung zur Analyse und Verbesserung der Justage sphärisch wirkender Orientierungseinrichtungen |
DE102013102651A1 (de) | 2013-03-14 | 2014-09-18 | Robotics Technology Leaders Gmbh | System und Verfahren zur Absolutkalibrierung eines Manipulators |
DE102013113949B4 (de) * | 2013-12-12 | 2021-03-18 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Fertigungsanlage |
DE102015211406A1 (de) * | 2015-06-22 | 2016-12-22 | Kuka Roboter Gmbh | Verbesserung der Temperaturdriftkompensation durch Einlernen der Restdrift |
DE102015109960B4 (de) | 2015-06-22 | 2017-05-04 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Vorrichtung und Verfahren zum optischen Bestimmen einer Position und/oder Orientierung eines Manipulators |
DE102015211405A1 (de) * | 2015-06-22 | 2016-12-22 | Kuka Roboter Gmbh | Verbesserung der Temperaturdriftkompensation durch Kalibrierung am Bauteil und Einlernen der Parametersätze |
CN107214692B (zh) * | 2016-03-22 | 2020-04-03 | 泰科电子(上海)有限公司 | 机器人系统的自动标定方法 |
CN106141814B (zh) * | 2016-08-04 | 2017-12-29 | 天津大学 | 基于LaserTRACER的数控机床平动轴几何误差检测与辨识方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4753569A (en) * | 1982-12-28 | 1988-06-28 | Diffracto, Ltd. | Robot calibration |
EP0329531A1 (de) * | 1988-02-18 | 1989-08-23 | Telemecanique | Verfahren und Vorrichtung zur Abschätzung der Parameter eines geometrischen Modells für einen Manipulator |
US5305091A (en) * | 1992-12-07 | 1994-04-19 | Oreo Products Inc. | Optical coordinate measuring system for large objects |
DE4415419A1 (de) * | 1994-05-02 | 1995-11-09 | Horn Wolfgang | Positionsmesseinrichtung |
US5907229A (en) * | 1995-03-30 | 1999-05-25 | Asea Brown Boveri Ab | Method and device for calibration of movement axes of an industrial robot |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2180117B (en) * | 1985-09-05 | 1989-09-06 | Ferranti Plc | Three-dimensional position measuring apparatus |
DE3811837A1 (de) * | 1987-04-09 | 1988-10-27 | Rollei Fototechnic Gmbh | Verfahren zur photogrammetrischen erfassung eines statischen aufnahmeobjektes mit hilfe zumindest eines opto-elektrischen festkoerper-flaechensensors |
DE19542490C1 (de) * | 1995-11-15 | 1997-06-05 | Leica Ag | Elektro-optisches Meßgerät für absolute Distanzen |
BE1011121A3 (nl) * | 1997-04-21 | 1999-05-04 | Krypton Electronic Eng Nv | Inrichting en werkwijze voor het bepalen van de positie van een punt. |
AU8601398A (en) * | 1997-08-01 | 1999-02-22 | Dynalog, Inc. | Calibration system and displacement measurement device |
US6321137B1 (en) * | 1997-09-04 | 2001-11-20 | Dynalog, Inc. | Method for calibration of a robot inspection system |
DE19821873C2 (de) * | 1998-05-15 | 2000-07-13 | Inst Werkzeugmaschinen Und Bet | Verfahren zum Verringern des Einflusses von Temperaturänderungen auf Industrieroboter |
DE19826395A1 (de) * | 1998-06-12 | 1999-12-23 | Amatec Gmbh | Verfahren zum Erfassen und Kompensieren von kinematischen Veränderungen eines Roboters |
DE19858793A1 (de) * | 1998-12-18 | 2000-06-21 | Alstom Energietechnik Gmbh | Druckgasschalter |
US6199024B1 (en) * | 1999-09-07 | 2001-03-06 | Nextel Ltd. | Calibration process for shape measurement |
DE19947374B4 (de) * | 1999-10-01 | 2005-11-03 | Bundesrepublik Deutschland, vertr. d. d. Bundesministerium für Wirtschaft und Arbeit, dieses vertr. d. d. Präsidenten der Physikalisch-Technischen Bundesanstalt | Verfahren zur Ermittlung geometrischer Abweichungen von Koordinatenmeßgeräten oder Werkzeugmaschinen |
DE10016785A1 (de) * | 2000-04-05 | 2001-10-18 | Zentrum Fertigungstechnik Stut | Verfahren zur Kalibrierung |
DE10048096A1 (de) * | 2000-09-28 | 2002-04-18 | Zeiss Carl | Verfahren zur Kalibrierung eines messenden Sensors auf einem Koordinatenmeßgerät |
-
2001
- 2001-10-26 DE DE2001153049 patent/DE10153049B4/de not_active Expired - Fee Related
-
2002
- 2002-10-23 WO PCT/EP2002/011978 patent/WO2003035333A2/de not_active Application Discontinuation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4753569A (en) * | 1982-12-28 | 1988-06-28 | Diffracto, Ltd. | Robot calibration |
EP0329531A1 (de) * | 1988-02-18 | 1989-08-23 | Telemecanique | Verfahren und Vorrichtung zur Abschätzung der Parameter eines geometrischen Modells für einen Manipulator |
US5305091A (en) * | 1992-12-07 | 1994-04-19 | Oreo Products Inc. | Optical coordinate measuring system for large objects |
DE4415419A1 (de) * | 1994-05-02 | 1995-11-09 | Horn Wolfgang | Positionsmesseinrichtung |
US5907229A (en) * | 1995-03-30 | 1999-05-25 | Asea Brown Boveri Ab | Method and device for calibration of movement axes of an industrial robot |
Also Published As
Publication number | Publication date |
---|---|
DE10153049B4 (de) | 2007-03-08 |
DE10153049A1 (de) | 2003-05-28 |
WO2003035333A2 (de) | 2003-05-01 |
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