WO2010143837A3 - 로봇 캘리브레이션 장치 및 그 방법 - Google Patents
로봇 캘리브레이션 장치 및 그 방법 Download PDFInfo
- Publication number
- WO2010143837A3 WO2010143837A3 PCT/KR2010/003569 KR2010003569W WO2010143837A3 WO 2010143837 A3 WO2010143837 A3 WO 2010143837A3 KR 2010003569 W KR2010003569 W KR 2010003569W WO 2010143837 A3 WO2010143837 A3 WO 2010143837A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- measurement
- points
- measurement points
- location
- Prior art date
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
- B25J9/16—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
- G05B2219/39045—Camera on end effector detects reference pattern
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/40—Minimising material used in manufacturing processes
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/376,878 US20120078418A1 (en) | 2009-06-08 | 2010-06-03 | Robot calibration apparatus and method for same |
CN201080025616.4A CN102458779B (zh) | 2009-06-08 | 2010-06-03 | 机械手校正装置及其方法 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR20090050518 | 2009-06-08 | ||
KR10-2009-0050518 | 2009-06-08 | ||
KR10-2010-0007542 | 2010-01-27 | ||
KR1020100007542A KR100986669B1 (ko) | 2009-06-08 | 2010-01-27 | 로봇 캘리브레이션 장치 및 그 방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2010143837A2 WO2010143837A2 (ko) | 2010-12-16 |
WO2010143837A3 true WO2010143837A3 (ko) | 2011-03-31 |
Family
ID=43135246
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2010/003569 WO2010143837A2 (ko) | 2009-06-08 | 2010-06-03 | 로봇 캘리브레이션 장치 및 그 방법 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20120078418A1 (ko) |
KR (1) | KR100986669B1 (ko) |
CN (1) | CN102458779B (ko) |
WO (1) | WO2010143837A2 (ko) |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5715809B2 (ja) * | 2010-03-29 | 2015-05-13 | 株式会社ダイヘン | ロボットの作業プログラム作成方法、ロボットの作業プログラム作成装置、及びロボット制御システム |
DE102011003539A1 (de) * | 2011-02-02 | 2012-08-02 | Kuka Roboter Gmbh | Verfahren zum Referenzieren einer Antriebsstellung wenigstens eines elektrischen Antriebs |
WO2013176299A1 (ko) | 2012-05-21 | 2013-11-28 | (주)로보티즈 | 캘리브레이션 지그 및 이를 포함하는 액츄에이터 어셈블리, 그리고 액츄에이터 어셈블리의 캘리브레이션 방법 |
JP5678979B2 (ja) * | 2013-03-15 | 2015-03-04 | 株式会社安川電機 | ロボットシステム、校正方法及び被加工物の製造方法 |
JP2014176943A (ja) * | 2013-03-15 | 2014-09-25 | Yaskawa Electric Corp | ロボットシステム、校正方法及び被加工物の製造方法 |
JP2014180720A (ja) * | 2013-03-19 | 2014-09-29 | Yaskawa Electric Corp | ロボットシステム及びキャリブレーション方法 |
CN104589355A (zh) * | 2014-11-21 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | 多点定位结合重力传感确定机器人绝对坐标的方法 |
CA2978520C (en) | 2015-03-23 | 2023-01-17 | National Research Council Of Canada | Multi-jointed robot deviation under load determination |
JP6665450B2 (ja) * | 2015-08-31 | 2020-03-13 | セイコーエプソン株式会社 | ロボット、制御装置、及びロボットシステム |
CN106945034B (zh) * | 2016-01-07 | 2021-09-03 | 鸿富锦精密电子(郑州)有限公司 | 机器人点位调节方法与系统 |
KR102314092B1 (ko) * | 2016-01-21 | 2021-10-19 | 현대중공업지주 주식회사 | 로봇의 캘리브레이션 장치 및 그 방법 |
DE102016005699B3 (de) * | 2016-05-12 | 2017-05-18 | Carl Zeiss Automated Inspection GmbH | Verfahren zum Kalibrieren einer Messvorrichtung zur Vermessung von Karosserieteilen und anderen Werkstücken sowie zur Durchführung des Verfahrens geeignete Messvorrichtung |
US10223798B2 (en) * | 2016-05-27 | 2019-03-05 | Intellijoint Surgical Inc. | Systems and methods for tracker characterization and verification |
US10661442B2 (en) * | 2017-02-03 | 2020-05-26 | Abb Schweiz Ag | Calibration article for a 3D vision robotic system |
CN107650144A (zh) * | 2017-09-16 | 2018-02-02 | 埃夫特智能装备股份有限公司 | 一种工业机器人工件坐标系的标定校准系统及其方法 |
JP6603289B2 (ja) * | 2017-10-27 | 2019-11-06 | ファナック株式会社 | ロボット、ロボットシステム、およびロボットの座標系設定方法 |
KR101910608B1 (ko) * | 2017-11-13 | 2018-10-23 | 노성남 | 로봇 용접기용 레이저 빔의 위치와 각도 측정방법 |
KR101925857B1 (ko) * | 2017-11-13 | 2018-12-06 | 노성남 | 로봇 용접기용 레이저 빔의 3차원 포인트 좌표 측정방법 |
JP6767436B2 (ja) * | 2018-07-06 | 2020-10-14 | ファナック株式会社 | 自動機械及び制御装置 |
KR102082686B1 (ko) * | 2018-09-12 | 2020-02-28 | 한국원자력연구원 | 구면좌표계 기반의 피봇형 이송장치 및 이의 제어 방법 |
TWI753209B (zh) * | 2018-10-15 | 2022-01-21 | 達明機器人股份有限公司 | 機器手臂校正工具中心點的方法 |
JP7048535B2 (ja) * | 2019-04-01 | 2022-04-05 | ファナック株式会社 | ロボットを制御するための機構誤差パラメータを較正するロボットの制御装置 |
KR102113636B1 (ko) * | 2019-12-20 | 2020-05-20 | (주)우신시스템 | 변위센서를 이용한 차체제조시스템 |
CN113799115B (zh) | 2020-06-11 | 2023-03-24 | 台达电子工业股份有限公司 | 机器手臂的坐标校正方法 |
TWI710441B (zh) * | 2020-06-11 | 2020-11-21 | 台達電子工業股份有限公司 | 機器手臂的座標校正方法 |
US20220219328A1 (en) * | 2021-01-08 | 2022-07-14 | General Electric Company | Method and device for creation of three dimensional tool frame |
CN114905521B (zh) * | 2022-07-18 | 2022-10-04 | 法奥意威(苏州)机器人系统有限公司 | 机器人原点位置校准方法、装置、电子设备和存储介质 |
CN116077190B (zh) * | 2023-02-27 | 2023-08-08 | 上海华易镜升数字科技有限公司 | 一种提高手术机器人系统精度的系统 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0871968A (ja) * | 1994-09-01 | 1996-03-19 | Kobe Steel Ltd | ロボットのツールパラメータ導出方法及び較正方法 |
KR19980074511A (ko) * | 1997-03-25 | 1998-11-05 | 윤종용 | 위치 제어 시스템의 캘리브레이션 방법 |
KR19990085127A (ko) * | 1998-05-14 | 1999-12-06 | 박준일 | 공작물 치수정보를 이용한 로봇 셀 자체보정방법 |
JP2001018182A (ja) * | 1999-07-05 | 2001-01-23 | Matsushita Electric Ind Co Ltd | ロボット機構較正演算方法及びシステム |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5400638A (en) * | 1992-01-14 | 1995-03-28 | Korea Institute Of Science And Technology | Calibration system for compensation of arm length variation of an industrial robot due to peripheral temperature change |
JPH06107521A (ja) * | 1992-09-29 | 1994-04-19 | Shiseido Co Ltd | 皮膚洗浄料 |
JP3665353B2 (ja) * | 1993-09-14 | 2005-06-29 | ファナック株式会社 | ロボットの教示位置データの3次元位置補正量取得方法及びロボットシステム |
US6044308A (en) * | 1997-06-13 | 2000-03-28 | Huissoon; Jan Paul | Method and device for robot tool frame calibration |
KR100482562B1 (ko) * | 2002-06-26 | 2005-04-14 | 현대자동차주식회사 | 로봇 캘리브레이션 방법 |
DE10361018C9 (de) * | 2003-12-23 | 2021-03-04 | QUISS Qualitäts-Inspektionssysteme und Service GmbH | Verfahren zum Erkennen einer auf einem Substrat aufzubringenden Struktur mit mehreren Kameras sowie eine Vorrichtung hierfür |
DE102005048136B4 (de) * | 2005-10-06 | 2010-01-21 | Kuka Roboter Gmbh | Verfahren zum Bestimmen eines virtuellen Tool-Center-Points |
KR20080088165A (ko) * | 2007-03-29 | 2008-10-02 | 삼성중공업 주식회사 | 로봇 캘리브레이션 방법 |
-
2010
- 2010-01-27 KR KR1020100007542A patent/KR100986669B1/ko active IP Right Grant
- 2010-06-03 WO PCT/KR2010/003569 patent/WO2010143837A2/ko active Application Filing
- 2010-06-03 US US13/376,878 patent/US20120078418A1/en not_active Abandoned
- 2010-06-03 CN CN201080025616.4A patent/CN102458779B/zh not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0871968A (ja) * | 1994-09-01 | 1996-03-19 | Kobe Steel Ltd | ロボットのツールパラメータ導出方法及び較正方法 |
KR19980074511A (ko) * | 1997-03-25 | 1998-11-05 | 윤종용 | 위치 제어 시스템의 캘리브레이션 방법 |
KR19990085127A (ko) * | 1998-05-14 | 1999-12-06 | 박준일 | 공작물 치수정보를 이용한 로봇 셀 자체보정방법 |
JP2001018182A (ja) * | 1999-07-05 | 2001-01-23 | Matsushita Electric Ind Co Ltd | ロボット機構較正演算方法及びシステム |
Also Published As
Publication number | Publication date |
---|---|
KR100986669B1 (ko) | 2010-10-08 |
CN102458779B (zh) | 2014-11-19 |
CN102458779A (zh) | 2012-05-16 |
WO2010143837A2 (ko) | 2010-12-16 |
US20120078418A1 (en) | 2012-03-29 |
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