WO2009001504A1 - 多関節型座標測定装置のパラメータ校正方法 - Google Patents

多関節型座標測定装置のパラメータ校正方法 Download PDF

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Publication number
WO2009001504A1
WO2009001504A1 PCT/JP2008/001308 JP2008001308W WO2009001504A1 WO 2009001504 A1 WO2009001504 A1 WO 2009001504A1 JP 2008001308 W JP2008001308 W JP 2008001308W WO 2009001504 A1 WO2009001504 A1 WO 2009001504A1
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WO
WIPO (PCT)
Prior art keywords
arm
measuring arm
calibration
operating
measuring apparatus
Prior art date
Application number
PCT/JP2008/001308
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English (en)
French (fr)
Inventor
Fumikazu Ebara
Original Assignee
Kosaka Laboratory 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
Application filed by Kosaka Laboratory Ltd. filed Critical Kosaka Laboratory Ltd.
Priority to US12/666,877 priority Critical patent/US8468869B2/en
Publication of WO2009001504A1 publication Critical patent/WO2009001504A1/ja

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/042—Calibration or calibration artifacts

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Manipulator (AREA)

Abstract

　本発明の多関節型座標測定装置のパラメータ校正方法では、まず、二つの小球（２２）を有する標準器（２０Ａ）を測定アーム（２）の操作空間内に設置し、測定アーム（２）を操作してプローブ（３）をそれらの小球（２２）に近づけて複数のアーム姿勢で小球（２２）の各々の空間座標を測定し、その測定結果に基づいて一次校正パラメータについてのパラメータ校正処理を行う。つぎに、一つの小球（２２）を有する標準器（２０Ｃ）を測定アーム（２）の操作空間内に設置し、測定アーム（２）を操作してプローブ（３）をその小球（２２）に近づけて複数のアーム姿勢で小球（２２）の空間座標を測定し、その測定結果に基づいて二次校正パラメータについてのパラメータ校正処理を行う。このようなパラメータ校正方法により、測定アームのパラメータの校正作業に要する手間や時間を削減することができる。  
PCT/JP2008/001308 2007-06-28 2008-05-26 多関節型座標測定装置のパラメータ校正方法 WO2009001504A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/666,877 US8468869B2 (en) 2007-06-28 2008-05-26 Method for calibrating parameter of articulated coordinate measuring apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007169973A JP5153228B2 (ja) 2007-06-28 2007-06-28 多関節型座標測定装置のパラメータ校正方法
JP2007-169973 2007-06-28

Publications (1)

Publication Number Publication Date
WO2009001504A1 true WO2009001504A1 (ja) 2008-12-31

Family

ID=40185332

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/001308 WO2009001504A1 (ja) 2007-06-28 2008-05-26 多関節型座標測定装置のパラメータ校正方法

Country Status (3)

Country Link
US (1) US8468869B2 (ja)
JP (1) JP5153228B2 (ja)
WO (1) WO2009001504A1 (ja)

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CN104897093A (zh) * 2015-06-24 2015-09-09 中国航天空气动力技术研究院 虎克铰的精度测量方法

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GB0525306D0 (en) 2005-12-13 2006-01-18 Renishaw Plc Method of machine tool calibration
JP2010169635A (ja) * 2009-01-26 2010-08-05 Nikon Corp 形状測定装置
US7905027B2 (en) * 2009-07-01 2011-03-15 Hexagon Metrology, Inc. Method and apparatus for probe tip diameter calibration
EP2290486A1 (en) * 2009-08-28 2011-03-02 Renishaw plc Machine tool calibration method
KR101366413B1 (ko) * 2012-11-28 2014-02-25 에스티엑스조선해양 주식회사 파이프 조정관 형상 측정을 위한 포터블 다관절 계측장치
CN103278116A (zh) * 2013-05-07 2013-09-04 九江精密测试技术研究所 一种六自由度关节式坐标测量机标定方法
EP3004796B1 (de) * 2013-05-27 2017-03-22 Carl Zeiss Industrielle Messtechnik GmbH Vorrichtung und verfahren zur kalibrierung eines koordinatenmessgeräts
CN104655167B (zh) * 2013-11-20 2017-02-01 北京信息科技大学 关节式坐标测量机的角度编码器偏心及结构参数标定方法
JP6226716B2 (ja) * 2013-11-22 2017-11-08 株式会社ミツトヨ アーム型三次元測定機及びアーム型三次元測定機における撓み補正方法
CN106092008B (zh) * 2016-06-28 2019-03-12 天津大学 高精度复合式测量机的坐标统一标定器及标定方法
CN106052607B (zh) * 2016-06-28 2019-03-12 天津大学 多传感器测量机坐标统一和精度检定的标准器及使用方法
JP7008044B2 (ja) 2016-07-01 2022-01-25 株式会社ミツトヨ 座標測定機のための取り外し可能なプローブに電力を供給するための電力伝達構成体
DE102016216902A1 (de) * 2016-09-06 2018-03-08 Deckel Maho Pfronten Gmbh Werkzeugmaschine zur spanenden Bearbeitung eines Werkstücks sowie Spindelträgerbaugruppe zum Einsatz an einer derartigen Werkzeugmaschine
DE102017105170A1 (de) 2017-03-10 2018-09-13 Carl Zeiss Industrielle Messtechnik Gmbh Halterung für mehrere Prüfnormale zur Kalibrierung eines Messsystems
KR102204895B1 (ko) * 2019-06-14 2021-01-19 (주)대호테크 성형 장치의 측정 장치 및 측정 방법
KR102040715B1 (ko) * 2019-10-11 2019-11-07 우정엔지니어링 주식회사 연결 엘리먼트의 치수 계측 시스템 및 방법
EP4258464A4 (en) * 2020-12-16 2024-05-22 Aist METHOD FOR DETERMINING A CONTACT OR CONNECTION STATE, AND INFORMATION PROCESSING DEVICE
CN114983598A (zh) * 2022-06-01 2022-09-02 苏州微创畅行机器人有限公司 末端工具更换装置、手术机器人、更换方法及控制设备

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JPS6228808A (ja) * 1985-07-31 1987-02-06 Fujitsu Ltd ロボツト座標系の較正方法
JPH01321183A (ja) * 1988-06-21 1989-12-27 Fujitsu Ltd ロボットの原点校正方法
JPH07501755A (ja) * 1991-12-10 1995-02-23 アセア　ブラウン　ボベリ　アクチボラグ 産業用ロボットの運動軸の較正方法及び装置
JP2004264135A (ja) * 2003-02-28 2004-09-24 Kosaka Laboratory Ltd 多関節型座標測定装置
JP2005157784A (ja) * 2003-11-26 2005-06-16 Tokyo Denki Univ 小型アーティファクトを用いた運動機構の校正方法

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JPS6228802A (ja) * 1985-07-31 1987-02-06 Toshiba Corp 負荷制御装置
US5430948A (en) * 1993-07-12 1995-07-11 Vander Wal, Iii; H. James Coordinate measuring machine certification system
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Patent Citations (5)

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JPS6228808A (ja) * 1985-07-31 1987-02-06 Fujitsu Ltd ロボツト座標系の較正方法
JPH01321183A (ja) * 1988-06-21 1989-12-27 Fujitsu Ltd ロボットの原点校正方法
JPH07501755A (ja) * 1991-12-10 1995-02-23 アセア　ブラウン　ボベリ　アクチボラグ 産業用ロボットの運動軸の較正方法及び装置
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JP2005157784A (ja) * 2003-11-26 2005-06-16 Tokyo Denki Univ 小型アーティファクトを用いた運動機構の校正方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104897093A (zh) * 2015-06-24 2015-09-09 中国航天空气动力技术研究院 虎克铰的精度测量方法

Also Published As

Publication number Publication date
US8468869B2 (en) 2013-06-25
JP2009008523A (ja) 2009-01-15
US20100206040A1 (en) 2010-08-19
JP5153228B2 (ja) 2013-02-27

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