WO2009026641A1 - System and method for precise real-time control of position and orientation of tooling - Google Patents

System and method for precise real-time control of position and orientation of tooling Download PDF

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Publication number
WO2009026641A1
WO2009026641A1 PCT/AU2008/001274 AU2008001274W WO2009026641A1 WO 2009026641 A1 WO2009026641 A1 WO 2009026641A1 AU 2008001274 W AU2008001274 W AU 2008001274W WO 2009026641 A1 WO2009026641 A1 WO 2009026641A1
Authority
WO
WIPO (PCT)
Prior art keywords
robotic arm
orientation
target
data
sensor
Prior art date
Application number
PCT/AU2008/001274
Other languages
English (en)
French (fr)
Inventor
Mark Joseph Pivac
Michael Barrington Wood
Original Assignee
Goldwing Nominees Pty 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
Priority claimed from AU2007904639A external-priority patent/AU2007904639A0/en
Application filed by Goldwing Nominees Pty Ltd filed Critical Goldwing Nominees Pty Ltd
Priority to AU2008291701A priority Critical patent/AU2008291701A1/en
Priority to EP08799965.2A priority patent/EP2244865A4/de
Priority to CA2732312A priority patent/CA2732312A1/en
Publication of WO2009026641A1 publication Critical patent/WO2009026641A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37275—Laser, interferometer
    • 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
    • G05B2219/39176—Compensation deflection arm
    • 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
    • G05B2219/40511—Trajectory optimization, coarse for arm, medium for wrist, fine for finger
PCT/AU2008/001274 2007-08-28 2008-08-28 System and method for precise real-time control of position and orientation of tooling WO2009026641A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2008291701A AU2008291701A1 (en) 2007-08-28 2008-08-28 System and method for precise real-time control of position and orientation of tooling
EP08799965.2A EP2244865A4 (de) 2007-08-28 2008-08-28 System und verfahren für präzise echtzeitsteuerung der position und ausrichtung von werkzeugen
CA2732312A CA2732312A1 (en) 2007-08-28 2008-08-28 System and method for precise real-time control of position and orientation of tooling

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
AU2007904639A AU2007904639A0 (en) 2007-08-28 Method for precise position control of tooling mounted to flexible or moveable machines
AU2007904640 2007-08-28
AU2007904639 2007-08-28
AU2007904640A AU2007904640A0 (en) 2007-08-28 Combined laser tracker and inertial navigation system

Publications (1)

Publication Number Publication Date
WO2009026641A1 true WO2009026641A1 (en) 2009-03-05

Family

ID=40386573

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/AU2008/001274 WO2009026641A1 (en) 2007-08-28 2008-08-28 System and method for precise real-time control of position and orientation of tooling
PCT/AU2008/001275 WO2009026642A1 (en) 2007-08-28 2008-08-28 System and method for precise real-time measurement of a target position and orientation relative to a base position, and control thereof

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/AU2008/001275 WO2009026642A1 (en) 2007-08-28 2008-08-28 System and method for precise real-time measurement of a target position and orientation relative to a base position, and control thereof

Country Status (4)

Country Link
EP (2) EP2249997A4 (de)
AU (2) AU2008291701A1 (de)
CA (2) CA2732312A1 (de)
WO (2) WO2009026641A1 (de)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011011286A1 (de) * 2011-02-15 2012-08-16 Rheinisch-Westfälische Technische Hochschule Aachen Verfahren und System zur Korrektur der Position eines durch eine Steuerung bewegten Objektes
EP2824420A1 (de) * 2013-07-08 2015-01-14 Hexagon Technology Center GmbH Lagebestimmungseinrichtung mit einer inertialen Messeinheit
US8965571B2 (en) 2010-08-12 2015-02-24 Construction Robotics, Llc Brick laying system
WO2018009981A1 (en) * 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
WO2019033166A1 (en) * 2017-08-17 2019-02-21 Fastbrick Ip Pty Ltd COMMUNICATION SYSTEM FOR AN INTERACTION SYSTEM
WO2020014736A1 (en) 2018-07-16 2020-01-23 Fastbrick Ip Pty Ltd Active damping system
WO2020014737A1 (en) 2018-07-16 2020-01-23 Fastbrick Ip Pty Ltd Backup tracking for an interaction system
RU2718025C1 (ru) * 2019-07-04 2020-03-30 федеральное государственное автономное образовательное учреждение высшего образования "Южно-Уральский государственный университет (национальный исследовательский университет)" Робот манипуляционный промышленный
JP2020066083A (ja) * 2018-10-24 2020-04-30 国立大学法人広島大学 ロボットの運動精度測定方法及び位置補正方法
WO2020097685A1 (en) * 2018-11-14 2020-05-22 Fastbrick Ip Pty Ltd Position and orientation tracking system
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
US11441899B2 (en) 2017-07-05 2022-09-13 Fastbrick Ip Pty Ltd Real time position and orientation tracker

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DE102012014312A1 (de) * 2012-07-19 2014-05-15 Kuka Roboter Gmbh Robotergeführte Messanordnung
CA2899291C (en) 2014-07-31 2018-03-13 Usnr/Kockums Cancar Company Dynamically directed workpiece positioning system
US9557157B2 (en) 2014-12-01 2017-01-31 Steven Eugene Ihlenfeldt Inertial dimensional metrology
US9812486B2 (en) 2014-12-22 2017-11-07 Google Inc. Time-of-flight image sensor and light source driver having simulated distance capability
US9757859B1 (en) 2016-01-21 2017-09-12 X Development Llc Tooltip stabilization
US9744665B1 (en) 2016-01-27 2017-08-29 X Development Llc Optimization of observer robot locations
US10059003B1 (en) 2016-01-28 2018-08-28 X Development Llc Multi-resolution localization system
CN108268056B (zh) * 2016-12-30 2020-12-15 昊翔电能运动科技(昆山)有限公司 手持云台校准方法、装置和系统
CN107255442B (zh) * 2017-06-06 2019-07-19 中国葛洲坝集团勘测设计有限公司 基于激光跟踪技术的大尺寸水轮发电机定子安装测量方法
CN111226090B (zh) 2017-08-17 2023-05-23 快砖知识产权私人有限公司 具有改进的横滚角测量的激光跟踪器
EP3724597A4 (de) * 2017-12-17 2021-10-06 AP Robotics, LLC Mehrdimensionales messsystem zur genauen berechnung der position und ausrichtung eines dynamischen objekts
CN114260577B (zh) * 2021-12-03 2024-01-05 重庆海尔制冷电器有限公司 冰箱激光打码系统及其控制方法

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EP0370682A2 (de) * 1988-11-16 1990-05-30 Westinghouse Electric Corporation Automatischer Schweissnahtfolger und Echtzeitfehler-Kumulationssteuerungssystem für einen industriellen Roboter
DE4038260A1 (de) * 1989-11-30 1991-06-06 Furmanite Australia Bearbeitungsgeraet
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US5523663A (en) * 1992-05-15 1996-06-04 Tsubakimoto Chain Co. Method for controlling a manipulator relative to a moving workpiece
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DE102006030130B3 (de) * 2006-06-28 2007-09-27 Scansonic Gmbh Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks mittels eines Energiestrahls, insbesondere Laserstrahls

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US7230689B2 (en) * 2002-08-26 2007-06-12 Lau Kam C Multi-dimensional measuring system
US7142981B2 (en) * 2003-08-05 2006-11-28 The Boeing Company Laser range finder closed-loop pointing technology of relative navigation, attitude determination, pointing and tracking for spacecraft rendezvous
WO2005014240A1 (en) * 2003-08-11 2005-02-17 Mindready, Solutions Inc. Micro-assembly and test station applied for the chip and bar tester application
AU2007203730B2 (en) * 2005-12-30 2012-09-27 Fastbrick Ip Pty Ltd An automated brick laying system for constructing a building from a plurality of bricks

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EP0370682A2 (de) * 1988-11-16 1990-05-30 Westinghouse Electric Corporation Automatischer Schweissnahtfolger und Echtzeitfehler-Kumulationssteuerungssystem für einen industriellen Roboter
DE4038260A1 (de) * 1989-11-30 1991-06-06 Furmanite Australia Bearbeitungsgeraet
EP0493020B1 (de) * 1990-12-20 1995-04-26 Furmanite Australia Pty. Ltd. Bearbeitungsvorrichtung mit Mitteln zum Einstellen der Werkzeugsposition
US5523663A (en) * 1992-05-15 1996-06-04 Tsubakimoto Chain Co. Method for controlling a manipulator relative to a moving workpiece
US5557397A (en) * 1994-09-21 1996-09-17 Airborne Remote Mapping, Inc. Aircraft-based topographical data collection and processing system
WO2001076830A1 (en) * 2000-04-10 2001-10-18 Abb Ab Pathcorrection for an industrial robot
US6516272B2 (en) * 2000-12-23 2003-02-04 American Gnc Corporation Positioning and data integrating method and system thereof
US20040078137A1 (en) * 2002-10-21 2004-04-22 Bae Systems Integrated Defense Solutions Inc. Navigation of remote controlled vehicles
US20050007450A1 (en) * 2002-12-13 2005-01-13 Duane Hill Vehicle mounted system and method for capturing and processing physical data
DE102006030130B3 (de) * 2006-06-28 2007-09-27 Scansonic Gmbh Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks mittels eines Energiestrahls, insbesondere Laserstrahls

Non-Patent Citations (1)

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Title
See also references of EP2244865A4 *

Cited By (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8965571B2 (en) 2010-08-12 2015-02-24 Construction Robotics, Llc Brick laying system
DE102011011286A1 (de) * 2011-02-15 2012-08-16 Rheinisch-Westfälische Technische Hochschule Aachen Verfahren und System zur Korrektur der Position eines durch eine Steuerung bewegten Objektes
EP2824420A1 (de) * 2013-07-08 2015-01-14 Hexagon Technology Center GmbH Lagebestimmungseinrichtung mit einer inertialen Messeinheit
US9273946B2 (en) 2013-07-08 2016-03-01 Hexagon Technology Center Gmbh Location determination apparatus with an inertial measurement unit
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
EP3655200A4 (de) * 2016-07-15 2021-04-14 Fastbrick IP Pty Ltd Roboterarmkinematik für die endeffektorsteuerung
WO2019014705A1 (en) 2016-07-15 2019-01-24 Fastbrick Ip Pty Ltd KINEMATIC ROBOT ARM FOR ORGAN CONTROL TERMINAL EFFECTOR
WO2019014701A1 (en) 2016-07-15 2019-01-24 Fastbrick Ip Pty Ltd PLANNING THE TRACK OF A ROBOT BASE
WO2019014706A1 (en) 2016-07-15 2019-01-24 Fastbrick Ip Pty Ltd VIRTUAL ROBOT BASE
WO2019014707A1 (en) 2016-07-15 2019-01-24 Fastbrick Ip Pty Ltd PATH CORRECTION FOR TERMINAL EFFECTOR COMMAND
US11299894B2 (en) 2016-07-15 2022-04-12 Fastbrick Ip Pty Ltd Boom for material transport
US11842124B2 (en) 2016-07-15 2023-12-12 Fastbrick Ip Pty Ltd Dynamic compensation of a robot arm mounted on a flexible arm
CN109715349A (zh) * 2016-07-15 2019-05-03 快砖知识产权私人有限公司 安装在柔性臂上的机器人臂的动态补偿
US20190224846A1 (en) * 2016-07-15 2019-07-25 Fastbrick Ip Pty Ltd Dynamic compensation of a robot arm mounted on a flexble arm
US11106836B2 (en) 2016-07-15 2021-08-31 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
WO2019014702A1 (en) 2016-07-15 2019-01-24 Fastbrick Ip Pty Ltd DYNAMIC PATH FOR TERMINAL EFFECTOR COMMAND
CN109715349B (zh) * 2016-07-15 2024-05-03 快砖知识产权私人有限公司 安装在柔性臂上的机器人臂的动态补偿
US10635758B2 (en) 2016-07-15 2020-04-28 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
WO2018009981A1 (en) * 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US10876308B2 (en) 2016-07-15 2020-12-29 Fastbrick Ip Pty Ltd Boom for material transport
US11687686B2 (en) 2016-07-15 2023-06-27 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US11441899B2 (en) 2017-07-05 2022-09-13 Fastbrick Ip Pty Ltd Real time position and orientation tracker
EP3669242A1 (de) * 2017-08-17 2020-06-24 Fastbrick IP Pty Ltd Kommunikationssystem für ein interaktionssystem
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system
EP3669242A4 (de) * 2017-08-17 2021-07-21 Fastbrick IP Pty Ltd Kommunikationssystem für ein interaktionssystem
WO2019033165A1 (en) 2017-08-17 2019-02-21 Fastbrick Ip Pty Ltd CONFIGURATION OF INTERACTION SYSTEM
AU2018317937B2 (en) * 2017-08-17 2023-11-23 Fastbrick Ip Pty Ltd Communication system for an interaction system
WO2019033166A1 (en) * 2017-08-17 2019-02-21 Fastbrick Ip Pty Ltd COMMUNICATION SYSTEM FOR AN INTERACTION SYSTEM
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
WO2020014737A1 (en) 2018-07-16 2020-01-23 Fastbrick Ip Pty Ltd Backup tracking for an interaction system
WO2020014736A1 (en) 2018-07-16 2020-01-23 Fastbrick Ip Pty Ltd Active damping system
JP2020066083A (ja) * 2018-10-24 2020-04-30 国立大学法人広島大学 ロボットの運動精度測定方法及び位置補正方法
JP7161753B2 (ja) 2018-10-24 2022-10-27 国立大学法人広島大学 ロボットの運動精度測定方法及び位置補正方法
US20210379775A1 (en) * 2018-11-14 2021-12-09 Fastbrick Ip Pty Ltd Position and orientation tracking system
CN113366401A (zh) * 2018-11-14 2021-09-07 快砖知识产权私人有限公司 位置和取向跟踪系统
US11951616B2 (en) 2018-11-14 2024-04-09 Fastbrick Ip Pty Ltd Position and orientation tracking system
WO2020097685A1 (en) * 2018-11-14 2020-05-22 Fastbrick Ip Pty Ltd Position and orientation tracking system
RU2718025C1 (ru) * 2019-07-04 2020-03-30 федеральное государственное автономное образовательное учреждение высшего образования "Южно-Уральский государственный университет (национальный исследовательский университет)" Робот манипуляционный промышленный

Also Published As

Publication number Publication date
EP2244865A4 (de) 2013-08-28
EP2244865A1 (de) 2010-11-03
CA2732310A1 (en) 2009-03-05
EP2249997A1 (de) 2010-11-17
EP2249997A4 (de) 2013-08-28
WO2009026642A1 (en) 2009-03-05
CA2732312A1 (en) 2009-03-05
AU2008291702A1 (en) 2009-03-05
AU2008291701A1 (en) 2009-03-05

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