WO2010143838A3 - Robot calibration method - Google Patents

Robot calibration method Download PDF

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Publication number
WO2010143838A3
WO2010143838A3 PCT/KR2010/003570 KR2010003570W WO2010143838A3 WO 2010143838 A3 WO2010143838 A3 WO 2010143838A3 KR 2010003570 W KR2010003570 W KR 2010003570W WO 2010143838 A3 WO2010143838 A3 WO 2010143838A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
calibration
measurement
measurement points
data
Prior art date
Application number
PCT/KR2010/003570
Other languages
French (fr)
Korean (ko)
Other versions
WO2010143838A2 (en
Inventor
범진환
이인욱
서동건
Original Assignee
(주)이지로보틱스
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 (주)이지로보틱스 filed Critical (주)이지로보틱스
Publication of WO2010143838A2 publication Critical patent/WO2010143838A2/en
Publication of WO2010143838A3 publication Critical patent/WO2010143838A3/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
    • B25J9/16—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

Disclosed is a gradual robot calibration method which gradually reflects state changes in a robot caused by changes in peripheral conditions such as temperature, humidity, or the like. The robot calibration method according to the present invention calibrates the robot using a measurement jig having a plurality of measurement points, wherein the robot calibration method comprises: a first data acquisition step of selecting one or more measurement points from among the measurement points on the measurement jig in a first pause period between a first process and a second processing subsequent to the first process, and measuring the location of the measurement point selected using a sensor coupled to the robot to obtain one or more calibration data including location information of the selected measurement point; a first update step of updating N calibration data, each of which includes location information of one or more measurement points preliminarily selected from among the measurement points on the measurement jig prior to the first process and measured by the sensor, to N calibration data using the calibration data acquired in the first data acquisition step; and a first calibration step of calibrating the robot in the first pause period on the basis of the N calibration data updated and acquired in the first update step. The method of the present invention has a time interval for reflecting state changes in the robot, which is shorter than the interval for acquiring full data and performing a calibration, and can reflect state changes in the robot in a more conservative and gradual method.
PCT/KR2010/003570 2009-06-08 2010-06-03 Robot calibration method WO2010143838A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2009-0050512 2009-06-08
KR20090050512 2009-06-08
KR1020100007549A KR100979304B1 (en) 2009-06-08 2010-01-27 A method for calibrating a robot
KR10-2010-0007549 2010-01-27

Publications (2)

Publication Number Publication Date
WO2010143838A2 WO2010143838A2 (en) 2010-12-16
WO2010143838A3 true WO2010143838A3 (en) 2011-03-24

Family

ID=42760265

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/003570 WO2010143838A2 (en) 2009-06-08 2010-06-03 Robot calibration method

Country Status (2)

Country Link
KR (1) KR100979304B1 (en)
WO (1) WO2010143838A2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114193445B (en) * 2021-11-12 2023-08-25 长春理工大学 Laser ray distance measuring method for robot self-calibration

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0691566A (en) * 1992-09-10 1994-04-05 Fanuc Ltd Method and apparatus for calibrating origin attitude position of articulated arm robot
JPH06270020A (en) * 1993-03-24 1994-09-27 Nissan Motor Co Ltd Position measuring device
KR20040000985A (en) * 2002-06-26 2004-01-07 현대자동차주식회사 Calibration apparatus for robot and method for the same
KR20080088165A (en) * 2007-03-29 2008-10-02 삼성중공업 주식회사 Robot calibration method

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06107521A (en) * 1992-09-29 1994-04-19 Shiseido Co Ltd Skin cleansing agent
KR100263442B1 (en) * 1998-05-14 2000-12-01 박준일 The method of self-compensation for robot cell using the data of size of manufactured articles

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0691566A (en) * 1992-09-10 1994-04-05 Fanuc Ltd Method and apparatus for calibrating origin attitude position of articulated arm robot
JPH06270020A (en) * 1993-03-24 1994-09-27 Nissan Motor Co Ltd Position measuring device
KR20040000985A (en) * 2002-06-26 2004-01-07 현대자동차주식회사 Calibration apparatus for robot and method for the same
KR20080088165A (en) * 2007-03-29 2008-10-02 삼성중공업 주식회사 Robot calibration method

Also Published As

Publication number Publication date
KR100979304B1 (en) 2010-08-31
WO2010143838A2 (en) 2010-12-16

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