WO2009086495A3 - Robotic arm for accurate positioning in three-dimensional space, measurement of three-dimensional coordinates, and remote tooling operations in three-dimensional space - Google Patents

Robotic arm for accurate positioning in three-dimensional space, measurement of three-dimensional coordinates, and remote tooling operations in three-dimensional space Download PDF

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Publication number
WO2009086495A3
WO2009086495A3 PCT/US2008/088394 US2008088394W WO2009086495A3 WO 2009086495 A3 WO2009086495 A3 WO 2009086495A3 US 2008088394 W US2008088394 W US 2008088394W WO 2009086495 A3 WO2009086495 A3 WO 2009086495A3
Authority
WO
WIPO (PCT)
Prior art keywords
dimensional space
point
arm
robotic arm
cmm
Prior art date
Application number
PCT/US2008/088394
Other languages
French (fr)
Other versions
WO2009086495A2 (en
Inventor
Sam Stathis
Original Assignee
Sam Stathis
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 Sam Stathis filed Critical Sam Stathis
Publication of WO2009086495A2 publication Critical patent/WO2009086495A2/en
Publication of WO2009086495A3 publication Critical patent/WO2009086495A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/881—Radar or analogous systems specially adapted for specific applications for robotics

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

CMM (coordinate measurement) functions are incorporated into robotic devices used a construction site system. The construction site system is capable of determining the absolute position of any physical point in three- dimensional space upon which the moving robot is to operate, that position is determined globally relative to monuments with known positions. A CMM determines the position of a point in three-dimensional space locally relative to itself. Combining the CMM functions with the global position determination functions improves the accuracy and precision of point location. The device disclosed in the Present Application comprises a motorized robotic arm having a plurality of moveable joints that give the arm the ability to reach out and touch any point in three-dimensional space within its reach. Attached to the robotic arm is a probe with a stylus having a sensor that will measure the coordinates of the point relative to itself. Coordinate information is then transmitted wirelessly to a control station. The device also transmits its absolute position wirelessly to a control station. Several different devices may be attached to the stylus. Coordinate measurement is only one function that can be performed. One device of significance would be an electronic distance measurement unit. This would enable the robot arm to be used either as a laser pointer and a distance measurement unit or as a total station. The arm can also be detected and seen by other robots and monuments on the site, and these other devices transmit the position of the Present Invention to the control station. The device has a locator device (such as a passive corner cube prism or an active wireless beacon) that can be seen by the other devices at the site.
PCT/US2008/088394 2007-12-28 2008-12-29 Robotic arm for accurate positioning in three-dimensional space, measurement of three-dimensional coordinates, and remote tooling operations in three-dimensional space WO2009086495A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US1745707P 2007-12-28 2007-12-28
US61/017,457 2007-12-28

Publications (2)

Publication Number Publication Date
WO2009086495A2 WO2009086495A2 (en) 2009-07-09
WO2009086495A3 true WO2009086495A3 (en) 2009-10-08

Family

ID=40825096

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2008/088394 WO2009086495A2 (en) 2007-12-28 2008-12-29 Robotic arm for accurate positioning in three-dimensional space, measurement of three-dimensional coordinates, and remote tooling operations in three-dimensional space

Country Status (1)

Country Link
WO (1) WO2009086495A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
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CN108575095B (en) * 2017-01-09 2021-10-15 苏州宝时得电动工具有限公司 Self-moving equipment and positioning system, positioning method and control method thereof

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DE102010032467A1 (en) 2010-07-28 2012-02-02 Carl Zeiss Ag Measurement system for measuring position of measured object i.e. automobile part in automobile manufacturing facility, has computing units linking coordinates of surface positions of measured objects with measuring head position
EP2489663A1 (en) 2011-02-16 2012-08-22 Almirall, S.A. Compounds as syk kinase inhibitors
DE102011011360A1 (en) * 2011-02-16 2012-08-16 Steinbichler Optotechnik Gmbh Apparatus and method for determining the 3-D coordinates of an object and for calibrating an industrial robot
DE102011114674C5 (en) 2011-09-30 2020-05-28 Steinbichler Optotechnik Gmbh Method and device for determining the 3D coordinates of an object
CN102528811B (en) * 2011-12-19 2014-06-18 上海交通大学 Mechanical arm positioning and obstacle avoiding system in Tokamak cavity
US9958854B2 (en) 2013-06-10 2018-05-01 The Boeing Company Systems and methods for robotic measurement of parts
FR3035803B1 (en) * 2015-05-07 2021-10-29 Romaric Gomart THREE-DIMENSIONAL SHAPING DEVICE REALIZED BY ASSOCIATION OF BEARING EQUIPMENT, ROBOTIZED EQUIPMENT AND A MEASURING SYSTEM.
DE102015120058B3 (en) * 2015-11-19 2017-03-02 Kuka Roboter Gmbh Coupling device and method for coupling a mobile process device
US9937625B2 (en) 2015-12-29 2018-04-10 The Boeing Company Self-locating robots
WO2017136429A1 (en) * 2016-02-01 2017-08-10 AM Networks LLC Desktop robotic arm with interchangeable end effectors
USD824980S1 (en) 2017-03-16 2018-08-07 AM Networks LLC Support for robotic arm
USD824979S1 (en) 2017-03-16 2018-08-07 AM Networks LLC Robotic arm
CN108226950A (en) * 2018-01-12 2018-06-29 刘轩与 Automobile identification and assessment system and appraisal and evaluation method
CN109115150B (en) * 2018-08-14 2020-08-18 中车唐山机车车辆有限公司 Data processing method and device based on vehicle body
JP7133520B2 (en) * 2019-08-06 2022-09-08 直之 村上 Computer eyes (PCEYE)
US11828174B2 (en) * 2021-01-27 2023-11-28 Baker Hughes Oilfield Operations Llc Utilizing cobots for lab procedures for the purpose of testing and gathering data
IT202100013691A1 (en) * 2021-05-26 2022-11-26 Yanmar Holdings Co Ltd System and method for positioning and securing a fixing bracket in an anchor channel
WO2023023977A1 (en) * 2021-08-25 2023-03-02 宁德时代新能源科技股份有限公司 Method for swapping battery of vehicle, and battery swapping vehicle and electronic device

Citations (4)

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WO2004096502A1 (en) * 2003-04-28 2004-11-11 Stephen James Crampton Cmm arm with exoskeleton
JP2005014149A (en) * 2003-06-26 2005-01-20 Yaskawa Electric Corp Robot system
JP2005186234A (en) * 2003-12-26 2005-07-14 Victor Co Of Japan Ltd Network robot and its control method
KR100621415B1 (en) * 2005-03-08 2006-09-19 주식회사 한울로보틱스 System and method for detecting the self-position of a mobile robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004096502A1 (en) * 2003-04-28 2004-11-11 Stephen James Crampton Cmm arm with exoskeleton
JP2005014149A (en) * 2003-06-26 2005-01-20 Yaskawa Electric Corp Robot system
JP2005186234A (en) * 2003-12-26 2005-07-14 Victor Co Of Japan Ltd Network robot and its control method
KR100621415B1 (en) * 2005-03-08 2006-09-19 주식회사 한울로보틱스 System and method for detecting the self-position of a mobile robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108575095B (en) * 2017-01-09 2021-10-15 苏州宝时得电动工具有限公司 Self-moving equipment and positioning system, positioning method and control method thereof

Also Published As

Publication number Publication date
WO2009086495A2 (en) 2009-07-09

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