WO2010060484A1 - A calibration tool, a robot unit and a method for setting the orientation of a robot arm to a predetermined orientation - Google Patents
A calibration tool, a robot unit and a method for setting the orientation of a robot arm to a predetermined orientation Download PDFInfo
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- WO2010060484A1 WO2010060484A1 PCT/EP2008/066443 EP2008066443W WO2010060484A1 WO 2010060484 A1 WO2010060484 A1 WO 2010060484A1 EP 2008066443 W EP2008066443 W EP 2008066443W WO 2010060484 A1 WO2010060484 A1 WO 2010060484A1
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- Prior art keywords
- robot arm
- calibration
- output member
- rotation axis
- encoder
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A calibration tool (14) for a robot arm (2). The calibration tool comprises a calibration element (15), a calibration guide (30) and a calibration reference member (32). The robot arm comprises an outer robot arm (4), an inner robot arm (6), an output member (8), a first joint (10) permitting the outer robot arm to be rotated around a first rotation axis (R1), a second joint (12) permitting the output member to be rotated around a second rotation axis (R2). The calibration reference member is attached to the inner robot arm. The calibration guide is configured to be brought into engagement with the calibration reference member by means of rotation of the outer robot arm around the first rotation axis and the output member around the second rotation axis so that the orientations of the outer robot arm and the output member are set to the predetermined orientation.
Description
A CALIBRATION TOOL, A ROBOT UNIT AND A METHOD FOR SETTING THE ORIENTATION OF A ROBOT ARM TO A PREDETERMINED ORIENTATION
FIELD OF THE INVENTION
The present invention relates to a calibration tool comprising a calibration element, a calibration guide and a calibration reference member for setting the orientation of a robot arm to a predetermined orientation, the robot arm comprising an outer robot arm extending along a first longitudinal axis, an inner robot arm extending along a second longitudinal axis and an output member positioned on the outer robot arm, a first joint connecting the outer robot arm and the inner robot arm and configured to permit the outer robot arm to be rotated around a first rotation axis in relation to the inner robot arm, a second joint connecting the outer robot arm and the output member and configured to permit the output member to be rotated around a second rotation axis, wherein the calibration element is configured to be attached to the output member at a certain position, The invention also refers to a robot unit according to the preamble of claim 16 and a method to setting the orientation of a robot arm to a predetermined orientation.
PRIOR ART
A typical industrial robot unit comprises a plurality of robot arms. Each robot arm comprises one or more joints. Each joint connects two robot arms or a robot arm and a robot part such as the output member. The output member is configured to permit attachment of various types of robot tools. Each joint has a rota- tional axis that permits one of the robot arms or robot part to be rotated in relation to the other robot arm or robot part. A typical
robot unit comprises six joints arranged so that the robot unit has the ability to perform various types of work.
The rotations of the robot arms are created manually or by con- trollable power means such as electrical motors or other types of motors positioned in connection to the joints. The term "manual rotation" refers to that the robot arms of the robot unit are reoriented by the power induced by the operator or by means of an external unit that facilitates the reorientation or the robot arms. The term "power driven" refers to that the robot unit comprises means to reorient its robot arms such as during operation, wherein the arms of the robot unit are moved along a programmed path. At the joints are encoders arranged that transmit rotational position related information to a robot controller based on the rotational position of a robot arm or robot part in relation to the connected robot arm or robot part. The rotational position related information may for example be used for the control of the robot unit during operation.
In some situation, the encoders may lose their rotational position related information, such as during a failure of power supply or during replacement of motors. In such situation the robot arms is to be positioned in the predetermined orientation that corresponds to a known rotational position of the robot arms, wherein the encoders of the joints are set to the known rotational position of the robot arms. Thereby, the encoders are calibrated so that they transmit accurate rotational position related information. Moreover, by means of calibrating the encoders, the accuracy of the robot movement is increased. Thus, calibration of the robot unit might be needed from time to time during operation of the robot unit depending on the required accuracy of the work of the robot unit.
A problem with calibration of the encoders of a robot unit is to set the orientation of the robot arm to the predetermined orientation. The rotations of the robot arms during calibration are ere-
ated manually or by controllable power means. Such setting requires manual operation from an operator that orient the robot arms to the predetermined orientation. A problem with such manual setting is that the setting requires several adjustments to accurately set the robot arms to the predetermined orientation and thus the setting is time consuming.
US 4552502 displays a teaching robot unit comprising a wrist link. The robot unit is a relatively lightweight, manually manipu- lated, unpowered robot. The robot unit further comprises a locking assembly for locking the wrist link in a predetermined position. The locking assembly includes a mounting block, adapted to be attached to the rotary output member of the outmost wrist joint, and an elongated bar with a pin. The pin is configured to be engaged into a bore on the outer end of the robot arm so that the robot wrist is locked in a predetermined position. A problem with the displayed locking assembly is that an operator must manually guide the pin of the locking assembly into the bore at the certain position. Moreover, once the wrist link has been locked into the predetermined position an operator must manually withdraw the pin from the bore so that the robot wrist is unlocked. This manual withdrawal of the locking assembly might in certain situation and for certain robot unit require ergonomi- cally heavy and harmful action for the operator.
SUMMARY OF THE INVENTION
The object of the present invention is to provide an improved calibration tool for setting the orientation of a robot arm to a predetermined orientation.
This object is obtained by a calibration tool as defined by claim 1 .
Such a calibration tool is characterized in that the calibration reference member is configured to be attached to the inner robot
arm, wherein the calibration element is configured, while being attached to the output member, to permit the calibration guide to be brought into engagement with the calibration reference member at the inner robot arm so that the orientations of the outer robot arm and the output member in relation to the inner robot arm are set to the predetermined orientation.
The calibration guide is adapted to be guided into engagement with the calibration reference member. At the engaged state of the calibration guide and the calibration reference member, the robot arm is set to the predetermined orientation. The term "predetermined orientation," refers to a predetermined relative relationship between the inner robot arm and the output member. The term "brought into engagement" refers to the state wherein the calibration guide and the calibration reference member are in a set and defined position, without being locked to each other. Thereby, the calibration guide and the calibration reference member can easily be disengaged without involving any ergonomically heavy and harmful action for the operator. Thus, the calibration tool is adapted to be used to set the orientation of the outer robot arm and the output member in a quick and simple manner. Moreover, at engagement of the calibration guide and the calibration reference member, the orientations of the first rotation axis and the output member are set simultane- ously.
According to one embodiment of the invention, the calibration guide is configured to be brought into engagement with the calibration reference member by means of manual or power driven rotation of the outer robot arm around the first rotation axis and manual or power driven rotation of the output member around the second rotation axis. The calibration guide is adapted to be brought into engagement with the calibration reference member by using manual means by an operator or an external unit or by the robot's power driven means to rotate the outer robot arm
around the first rotation axis and the output member around the second rotation axis.
According to one embodiment of the invention, the first rotation axis is essentially perpendicular to first longitudinal axis and the second longitudinal axis.
According to one embodiment of the invention, the first rotation axis is essentially perpendicular to the second rotation axis.
According to one embodiment of the invention, the second rotation axis is essentially parallel with the first longitudinal axis.
According to one embodiment of the invention, the calibration element comprises a solid body with an attachment configured to permit attachment of the calibration element to the output member in the certain position. The solid body is configured essentially inflexible so that calibration element is adapted to set the orientation of the robot arm to the predetermined orientation with high accuracy.
According to one embodiment of the invention, the body has a sheet-like shape that comprises a first flat part extending along a first plane and a second flat part extending along a second plane, wherein the first flat part comprises the attachment and the second flat part comprises the calibration guide.
According to one embodiment of the invention, the attachment comprises at least two holes extending through the first flat part. The holes are adapted to be positioned in the certain position to the output member so that the orientation of the calibration element in relation to the output member is set.
According to one embodiment of the invention, the first plane and the second plane are separated so that, while the calibration element is attached to the output member, the calibration
element is configured to permit the calibration guide to be brought into engagement with the calibration reference member.
According to one embodiment of the invention, the first plane and the second plane are essentially parallel.
According to one embodiment of the invention, a connecting part connects the first flat part and the second flat part.
According to one embodiment of the invention, the calibration guide comprises a notch in the body of the calibration element, wherein the notch is configured to receive the calibration reference member. The notch is formed so that it guides the calibration element into the predetermined orientation of the robot arm. Hence, the notch facilitates to set the orientation of the robot arm accurately. The notch is formed in the second flat part.
According to one embodiment of the invention, the calibration reference member comprises a pin on the inner robot arm, wherein the calibration guide is configured to receive the pin.
According to one embodiment of the invention, the calibration tool comprises a first encoder and a second encoder, wherein the first encoder holds rotational position related information based on the rotational position of the outer robot arm in relation to the inner robot arm and the second encoder holds rotational position related information based on the rotational position of the outer robot arm in relation to the output member, wherein the rotational position related information of the first encoder is adapted to be calibrated to a first predetermined value and the second encoder is adapted to be calibrated to a second predetermined value at the predetermined orientation of the robot arm.
Each of the first and the second encoder is a sensor that is adapted to be attached to a rotating object such as the first joint
10 and the second joint 12 of the robot arm. The first encoder is adapted to measure the relative rotation between the outer robot arm and the inner robot arm. The second encoder is adapted to measure the relative rotation between the output member and the outer robot arm. Thereby, each of the first and the second encoder holds rotational position related information. At the predetermined position of the robot arm the first encoder is adapted to be calibrated to the first predetermined value and the second encoder is adapted to be calibrated to the second predetermined value. Thereby, the rotational position related information of the first and the second encoder is adapted to be set to agreement with the predetermined orientation of the robot arm.
The object is also achieved by the initial defined robot unit com- prising the features of the characterizing portion of claim 16. The object is also achieved by the method in claim 17.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention will now be explained more closely by the description of different embodiments of the invention and with reference to the appended figures.
Fig. 1 shows an example of a robot arm.
Fig. 2 shows an embodiment of the invention comprising a calibration tool at the robot arm in Fig .1 .
Fig. 3 shows the calibration element shown in Fig.2.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION
In Fig. 1 a robot unit 1 comprising a robot arm 2 is shown. The robot unit 1 is viewed from the side and above. The robot arm 2 comprises an elongated outer robot arm 4 and an elongated in-
ner robot arm 6. The outer robot arm 4 extends along a first longitudinal axis L1 . The inner robot arm 6 extends along a second longitudinal axis L2. The robot arm 2 comprises an output member 8 that is mounted and positioned at the outer end of the outer robot arm 4. The output member 8 is adapted to permit attachment of a robot tool that is used for the work of the robot unit 1 .
The robot arm 2 comprises a first joint 10 and a second joint 12. The first joint 10 connects the outer robot arm 4 and the inner robot arm 6. The first joint 10 is configured to permit the outer robot arm 4 to be rotated around a first rotation axis R1 in relation to the inner robot arm 6. The second joint 12 connects the outer robot arm 4 and the output member 8. The second joint 12 is configured to permit the output member 8 to be rotated around a second rotation axis R2. Thus, the robot arm 2 is configured by means of the first joint 10 and the second joint 12 to be oriented in different orientations.
The robot arm 2 is configured as follows. The first rotation axis R1 is essentially perpendicular to both the first longitudinal axis L1 and second longitudinal axis L2. The first rotation axis R1 is essentially perpendicular to the second rotation axis R2.
In Fig. 2 the robot arm 2 in Fig. 1 is shown, wherein a calibration tool 14 is used by the robot arm 2. The calibration tool 14 comprises a calibration element 15. The output member 8 is adapted to permit attachment of the calibration element 15 at a certain known position.
Details of the calibration element 15 are shown in Fig. 3. The calibration element 15 comprises a body with a sheet-like shape. The body comprises an attachment 16 configured to permit attachment of the calibration element 15 to the output member 8 in the certain position. In the embodiment disclosed the attachment 16 comprises five holes 18 that extend through
the thickness of the calibration element 15. It is possible to use different number of holes 18 for the attachment of the calibration element 15 to the output member. For example, embodiment comprising two holes 18, three holes 18, four holes 18, six holesi δ, etcetera, is possible.
The calibration element 15 comprises a first flat part 20 and a second flat part 22. The first flat part 20 extends along a first plane P1 . The second flat part 22 extends along a second plane P2. In the embodiments disclosed, the first plane P1 and the second plane P2 are essentially parallel. However, it is also possible to use other embodiments, wherein the first plane P1 and the second plane P2 are not parallel. The first flat part 20 and the second flat part 22 are connected by a connecting part 24. The function of the connecting part 24 is to connect the first flat part 20 and the second flat part 22 so that the first plane P1 and the second plane P2 are separated by distance. In fig. 3a, 3b the connecting part 24 is inclined in relation to the first plane P1 or the second plane P2. For example, the connecting part 24 connects the first flat part 20 and the second flat part 22 with an angle of about 45°. Other arrangement of the connecting part 24 is possible. For example, the connecting part 24 is positioned vertical to the first plane P1 and to the second plane P2. In another example, the connecting part 24 is parallel with the first plane P1 and to the second plane P2. The attachment 16 is positioned on the first flat part 20.
The second flat part 22 comprises a calibration guide 30 that is configured to be brought into engagement with a calibration ref- erence member 32 (shown in Fig. 2). The calibration reference member 32 is positioned on the inner robot arm 6.
The calibration guide 30 is configured to guide the calibration element 15 so that the calibration guide 30 is guided into en- gagement with the calibration reference member 32. The calibration guide 30 comprises a notch in the second flat part 22 of
the calibration element 15. The calibration reference member 32 comprises a pin. Thus, during calibration, the calibration guide 30 receives the calibration reference member 32 so that the position of the first joint 10 and the second joint 12 of the robot arm 2 are set to a predetermined position.
In Fig. 2 the calibration element 15 is attached to the output member 8. The outer robot arm 4 and the inner robot arm 6 have been oriented so that the calibration guide 30 is in engagement with the calibration reference member 32. Thus, the first joint 10 and the second joint 12 are set to the predetermined position.
At the predetermined position, the first longitudinal axis L1 is essentially perpendicular to the second longitudinal axis L2. Moreover, the output member 8 has been oriented by means of the second joint 12 so that calibration guide 30 is in engagement with the calibration reference member 32. Thus, the robot arm 2 has been set to the predetermined orientation, wherein a first encoder 34 at the first joint 10 and a second encoder 36 at the second joint 12 are adapted to be calibrated (the encoders 34, 36 are shown in Fig. 1 ).
Each of the first encoder 34 and the second encoder 36 is a type of sensor that is attached to a rotating object such as a joint, a wheel or a motor and is measuring rotational position related information. The first encoder 34 and the second encoder 36 produces a unique digital code for each distinct angle between the outer robot arm 4 and the inner robot arm 6, and between the output member 8 and the outer robot arm 4, respec- tively. Each digital code corresponds to a specific rotational position related value. There are different types of encoders 34, 36 such as optical and mechanical encoders.
The first encoder 34 holds rotational position related information based on the rotational position of the outer robot arm 4 in relation to the inner robot arm 6. The second encoder 36 holds rota-
tional position related information based on the rotational position of the outer robot arm 4 in relation to the output member 8. At a static position of the predetermined orientation of the robot arm, the first encoder 34 is to be set to a first predetermine value and the second encoder 36 is to be set to a second predetermined value.
The rotational position related information might be used to determine parameters such as displacement, velocity, acceleration or the angle of the connected robot arms or robot arm and robot part. The accuracy of these parameters is dependent on the accuracy of the calibration of the encoders 34, 36.
The method for orienting the robot arm 2 into the predetermined orientation is as follows. Firstly, the calibration element 15 is attached by means of the attachment 16 to the output member 8 in the certain position. Secondly, the outer robot arm 4 is manual or power driven rotated around the first rotation axis R1 and the output member is 8 manual or power driven rotated around the second rotation axis R2 so that the calibration guide 30 is guided into engagement with the calibration reference member 32 at the inner robot arm 6. As the calibration guide 30 and the calibration reference member 32 are engaged in a firm engagement, the robot arm 2 has been set to the predetermined orien- tation. Thirdly, as the robot arm 2 is set to the predetermined orientation, the first encoder 34 and the second encoder 36 is calibrated to a first and a second predetermined value.
The present invention is not limited to the embodiments dis- closed but may be varied and modified within the scope of the following claims. For example the calibration element 15 may be provided in different shapes and material. The calibration reference member 32 may be located at different locations on the robot unit or on other adjacent objects. The setting of the robot arm 2 to the predetermined orientation may be of other purposes than calibrating the first encoder 34 and the second encoder 36.
Claims
1 . A calibration tool (14) comprising a calibration element (15), a calibration guide (30) and a calibration reference member (32) for setting the orientation of a robot arm (2) to a predetermined orientation, the robot arm (2) comprising: an outer robot arm (4) extending along a first longitudinal axis (L1 ), an inner robot arm (6) extending along a second longitudinal axis (L2) and an output member (8) positioned on the outer robot arm (4), a first joint (10) connecting the outer robot arm (4) and the inner robot arm (6) and configured to permit the outer robot arm (4) to be rotated around a first rotation axis (R1 ) in relation to the inner robot arm (6), a second joint (12) connecting the outer robot arm (4) and the output member (8) and configured to permit the output member (8) to be rotated around a second rotation axis (R2), wherein the calibration element (15) is configured to be attached to the output member (8) at a certain position, characterized in that the calibration reference member (32) is configured to be attached to the inner robot arm (6), wherein the calibration element (15) is configured, while being attached to the output member (8), to permit the calibration guide (30) to be brought into engagement with the calibration reference member (32) at the inner robot arm (6) so that the orientations of the outer robot arm (4) and the output member (8) in relation to the inner robot arm (6) are set to the predetermined orientation.
2. A calibration tool (14) according to claim 1 , characterized in that the calibration guide (30) is configured to be brought into engagement with the calibration reference member (32) by means of rotation of the outer robot arm (4) around the first rotation axis (R1 ) and rotation of the output member (8) around the second rotation axis (R2).
3. A calibration tool (14) according to claim 1 or 2, characterized in that the first rotation axis (R1 ) is essentially perpendicular to first longitudinal axis (L1 ) and the second longitudinal axis (L2).
4. A calibration tool (14) according to anyone of the preceding claims, characterized in that the first rotation axis (R1 ) is essentially perpendicular to the second rotation axis (R2).
5. A calibration tool (14) according to anyone of the preceding claims, characterized in that the second rotation axis (R2) is essentially parallel with the first longitudinal axis (L1 ).
6. A calibration tool (14) according to anyone of the preced- ing claims, characterized in that the calibration element (15) comprises a solid body with an attachment (16) configured to permit attachment of the calibration element (15) to the output member (8) in the certain position.
7. A calibration tool (14) according to anyone of the preceding claims, characterized in that the calibration element (15) has a sheet-like shape that comprises a first flat part (20) extending along a first plane (P1 ) and a second flat part (22) extending along a second plane (P2), wherein the first flat part (20) comprises the attachment (16) and the second flat part (22) comprises the calibration guide (30).
8. A calibration tool (14) according to claims 6 and 7, characterized in that the attachment (16) comprises a plurality of holes (18) extending through the first flat part (20).
9. A calibration tool (14) according to anyone of claims 7 and 8, characterized in that the first plane (P1 ) and the second plane (P2) are separated so that, while the calibration ele- ment (15) is attached to the output member (8), the calibration element (15) is configured to permit the calibration guide (30) to be brought into engagement with the calibration reference member (32).
10. A calibration tool (14) according to anyone of claims 7 to 9, characterized in that the first plane (P1 ) and the second plane (P2) are essentially parallel.
1 1 . A calibration tool (14) according to anyone of claims 7 to 10, characterized in that a connecting part 24 connects the first flat part (20) and the second flat part (22).
12. A calibration tool (14) according to at least one claim, characterized in that the calibration guide (30) comprises a notch in the body of the calibration element (15), wherein the notch is configured to receive the calibration reference member (32).
13. A calibration tool (14) according to claims 6 and 1 1 , characterized in that the notch is formed in the second flat part (22).
14. A calibration tool (14) according to anyone of the preceding claims, characterized in that the calibration reference member (32) comprises a pin on the inner robot arm (6), wherein the calibration guide (30) is configured to receive the pin.
15. A calibration tool (14) according to anyone of the preceding claims, characterized in that the calibration tool (14) com- prises a first encoder (34) and a second encoder (36), wherein the first encoder (34) holds rotational position related information based on the rotational position of the outer robot arm (4) in relation to the inner robot arm (6) and the second encoder (36) holds rotational position related information based on the rotational position of the outer robot arm (4) in relation to the output member (8), wherein the rotational posi- tion related information of the first encoder (34) is adapted to be calibrated to a first predetermined value and the second encoder (36) is adapted to be calibrated to a second predetermined value at the predetermined orientation of the robot arm (2).
16. A robot unit (1 ) adapted to have the orientation of a robot arm (2) set to a predetermined orientation, the robot unit (1 ) comprising: an outer robot arm (4) extending along a first longitudinal axis (L1 ), an inner robot arm (6) extending along a second longitudinal axis (L2) and an output member (8) positioned on the outer robot arm (4), a first joint (10) connecting the outer robot arm (4) and the inner robot arm (6) and configured to permit the outer robot arm (4) to be rotated around a first rotation axis (R1 ) in relation to the inner robot arm (6), a second joint (12) connecting the outer robot arm (4) and the output member (8) and configured to permit the output member (8) to be rotated around a second rotation axis (R2), a calibration tool (14) comprising a calibration element (15), a calibration guide (30) and a calibration reference member
(32), wherein the calibration tool (14) is adapted to set the orientations of the outer robot arm (4) and the output member (8) in relation to the inner robot arm (6) to the predetermined orientation, wherein the calibration element (15) is configured to be attached to the output member (8) at a certain position. characterized in that the calibration reference member (32) is configured to be attached to the inner robot arm (6), wherein the calibration element (15) is configured, while being attached to the output member (8), to permit the calibration guide (30) to be brought into engagement with the calibration reference member (32) at the inner robot arm (6) by means of rotation of the outer robot arm (4) around the first rotation axis (R1 ) and rotation of the output member (8) around the second rotation axis (R2) so that the orientations of the outer robot arm (4) and the output member (8) in relation to the inner robot arm (6) are set to the predetermined orientation.
17. A method for setting the orientation of a robot arm to a predetermined orientation by means of a calibration tool, wherein the robot arm comprises: an outer robot arm extending along a first longitudinal axis, an inner robot arm extending along a second longitudinal axis and an output member positioned on the outer robot arm, a first joint connecting the outer robot arm and the inner robot arm and configured to permit the outer robot arm to be rotated around a first rotation axis in relation to the inner robot arm, and a second joint connecting the outer robot arm and the out- put member and configured to permit the output member to be rotated around a second rotation axis, wherein the calibration tool comprises a calibration element, a calibration guide and a calibration reference member, wherein the calibration reference member is attached to the inner robot arm, the method comprising the steps of: attaching the calibration element to the output member in a certain position, and performing rotation of the outer robot arm and the output member around the first rotation axis and the second rotation axis respectively, so that the calibration guide is brought into engagement with the calibration reference member at the inner robot arm, thereby setting the orientations of the outer robot arm and the output member in relation to the inner ro- bot arm to the predetermined orientation.
18. A method according to claim 17, wherein the method comprises the further steps of: holding rotational position related information based on the rotational position of the outer robot arm in relation to the inner robot arm in a first encoder, holding rotational position related information based on the rotational position of the outer robot arm in relation to the output member in a second encoder, and calibrating the rotational position related information of the first encoder to a first predetermined value and calibrating the rotational position related information of the second encoder to a second predetermined value at the predetermined orientation of the robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2008/066443 WO2010060484A1 (en) | 2008-11-28 | 2008-11-28 | A calibration tool, a robot unit and a method for setting the orientation of a robot arm to a predetermined orientation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2008/066443 WO2010060484A1 (en) | 2008-11-28 | 2008-11-28 | A calibration tool, a robot unit and a method for setting the orientation of a robot arm to a predetermined orientation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2010060484A1 true WO2010060484A1 (en) | 2010-06-03 |
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ID=40873753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2008/066443 WO2010060484A1 (en) | 2008-11-28 | 2008-11-28 | A calibration tool, a robot unit and a method for setting the orientation of a robot arm to a predetermined orientation |
Country Status (1)
| Country | Link |
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| WO (1) | WO2010060484A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016074708A1 (en) * | 2014-11-12 | 2016-05-19 | Abb Technology Ltd | Determining a calibration position of a robot joint |
| WO2019091892A1 (en) * | 2017-11-09 | 2019-05-16 | Kuka Deutschland Gmbh | Robot arm and method for adjustment thereof |
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| JPS6263303A (en) * | 1985-09-13 | 1987-03-20 | Oki Electric Ind Co Ltd | Position correcting method for mechanical origin of articulated robot |
| JPS637286A (en) * | 1986-06-24 | 1988-01-13 | 松下電器産業株式会社 | Method of compensating origin of robot |
| JPH0538698A (en) * | 1991-07-29 | 1993-02-19 | Nippondenso Co Ltd | Origine correction amount detection method of robot and jig thereof |
| JP2005246576A (en) * | 2004-03-05 | 2005-09-15 | Taiyo Ltd | Method and device for checking arm in robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS6263303A (en) * | 1985-09-13 | 1987-03-20 | Oki Electric Ind Co Ltd | Position correcting method for mechanical origin of articulated robot |
| JPS637286A (en) * | 1986-06-24 | 1988-01-13 | 松下電器産業株式会社 | Method of compensating origin of robot |
| JPH0538698A (en) * | 1991-07-29 | 1993-02-19 | Nippondenso Co Ltd | Origine correction amount detection method of robot and jig thereof |
| JP2005246576A (en) * | 2004-03-05 | 2005-09-15 | Taiyo Ltd | Method and device for checking arm in robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016074708A1 (en) * | 2014-11-12 | 2016-05-19 | Abb Technology Ltd | Determining a calibration position of a robot joint |
| CN107206589A (en) * | 2014-11-12 | 2017-09-26 | Abb瑞士股份有限公司 | Determine the calibrating position of joint of robot |
| US10272571B2 (en) | 2014-11-12 | 2019-04-30 | Abb Schweiz Ag | Determining a calibration position of a robot joint |
| CN107206589B (en) * | 2014-11-12 | 2021-02-02 | Abb瑞士股份有限公司 | Determining a calibration position of a robot joint |
| WO2019091892A1 (en) * | 2017-11-09 | 2019-05-16 | Kuka Deutschland Gmbh | Robot arm and method for adjustment thereof |
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