WO2011110440A1 - Dispositif de mesure angulaire et robot - Google Patents

Dispositif de mesure angulaire et robot Download PDF

Info

Publication number
WO2011110440A1
WO2011110440A1 PCT/EP2011/052950 EP2011052950W WO2011110440A1 WO 2011110440 A1 WO2011110440 A1 WO 2011110440A1 EP 2011052950 W EP2011052950 W EP 2011052950W WO 2011110440 A1 WO2011110440 A1 WO 2011110440A1
Authority
WO
WIPO (PCT)
Prior art keywords
analog
digital
converter
signal
digital converter
Prior art date
Application number
PCT/EP2011/052950
Other languages
German (de)
English (en)
Inventor
Thomas Wecker
Michael Langhans
Original Assignee
Kuka Laboratories Gmbh
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 Kuka Laboratories Gmbh filed Critical Kuka Laboratories Gmbh
Publication of WO2011110440A1 publication Critical patent/WO2011110440A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M1/00—Analogue/digital conversion; Digital/analogue conversion
    • H03M1/06—Continuously compensating for, or preventing, undesired influence of physical parameters
    • H03M1/0617—Continuously compensating for, or preventing, undesired influence of physical parameters characterised by the use of methods or means not specific to a particular type of detrimental influence
    • H03M1/0675—Continuously compensating for, or preventing, undesired influence of physical parameters characterised by the use of methods or means not specific to a particular type of detrimental influence using redundancy
    • H03M1/0678—Continuously compensating for, or preventing, undesired influence of physical parameters characterised by the use of methods or means not specific to a particular type of detrimental influence using redundancy using additional components or elements, e.g. dummy components
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/02—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means
    • G01D5/04—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means using levers; using cams; using gearing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/16—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying resistance
    • G01D5/165—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying resistance by relative movement of a point of contact or actuation and a resistive track
    • G01D5/1655—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying resistance by relative movement of a point of contact or actuation and a resistive track more than one point of contact or actuation on one or more tracks
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M1/00—Analogue/digital conversion; Digital/analogue conversion
    • H03M1/12—Analogue/digital converters

Definitions

  • the invention relates to an angle measuring device and a robot with this angle measuring device.
  • Robots are working machines which can be equipped with tools for the automatic handling and / or machining of objects and which can be programmed in several axes of motion, for example with regard to orientation, position and operating sequence.
  • Robots usually have ei ⁇ NEN robot arm with several joints associated members, and programmable logic controllers (controllers) that control or regulate during operation, the movements of the robot.
  • the links are moved via drives, which are controlled by the control device, in particular with respect to the axes of rotation.
  • the object of the invention is to provide an angle measuring device for determining the angular position of a member relative to a further member, wherein the member is rotatably mounted relative to the further member with respect to a rotation axis.
  • an angle measuring ⁇ device for determining the angular position of a member relative to another member, wherein the member is rotatably mounted relative to the further member with respect to a rotational axis, comprising
  • a first means which is arranged to generate a first of the Win ⁇ kelposition associated analog electrical sig nal ⁇ , a first analog-to-digital converter connected downstream of the first device and configured to generate a first digitized signal associated with the angular position from the first analog electrical signal,
  • a first digital evaluation device connected downstream of the first analog-to-digital converter and configured to determine the angular position from the first digitized signal
  • a second device downstream of the second analog-to-digital converter which is adapted to generate from the second analog electrical signal to the angular position associated second digitized signal
  • a second digital evaluation device connected downstream of the second analog-to-digital converter and configured to determine the angular position from the second digitized signal independently of the first digital evaluation device.
  • the angle measuring device therefore comprises two separate angle measurements, which due to the relatively few components has a relatively low wiring complexity result.
  • the win ⁇ kelmessvoroplasty invention can be carried out to save space.
  • the first device may preferably comprise as a first Poten ⁇ tiometer and / or the second means may be embodied as a second potentiometer.
  • the two potentiometers are mechanically coupled to the links, so that is assigned to the current angular position of the member, the electrical output signals which are, for example electric clamp ⁇ voltages.
  • It may also be provided to process the first analog electrical signal by means of a first analog signal processing device connected between the first device and the first analog-to-digital converter so that the first analog-to-digital converter receives the analog-processed first analog electrical signal.
  • the second analog electrical signal by means of a second analog signal processing device connected between the second device and the second analog-digital converter, such that the second analog-digital converter has the analog analog second analog electrical signal Signal is supplied.
  • the signal processing devices are, for example, filters and / or amplifiers.
  • the first digital evaluation device can preferably be designed as a first FPGA, and / or the second digital evaluation device can preferably be designed as a second FPGA.
  • a Field Programmable Gate Array, abbreviated "FPGA” is an integrated circuit of digital technology into which a logic circuit can be programmed.
  • the FPGAs can also perform a variety of other tasks in the joint, such as control, interface to the controller, etc., take over. These circuits make it possible that the joint angle detection relatively simple and therefore can be realized inexpensively. This makes it possible to avoid additional freely programmable blocks for OF INVENTION ⁇ -making proper measuring device. These not only have the disadvantage of requiring an increased space requirement, but also require a relatively expensive dige software development with possibly relatively complex acceptance.
  • the member may in particular be rotatable relative to the further member with respect to the axis of rotation by means of a drive having a gear.
  • the inventive measuring ⁇ device can be designed according to an embodiment such that the first device and the second device are coupled with the gear that the first and second analog electrical signal to an output-side angular measurement are assigned.
  • the first analog-digital converter and the second analog-digital converter are combined to form a first module.
  • This assembly which may also include the first Einrich ⁇ processing and the second means may be made relatively compact and can therefore relatively well off the drive side in or on the member to be fixed. If necessary, then the two analog signal processing devices ⁇ part of this first assembly.
  • the two digital evaluation devices can preferably be combined to form a second module.
  • the first analog-to-digital converter can communicate with the first digital evaluation device via a first bus or a first line and the second analog-digital converter with the second digital evaluation device via a second bus or a second line. Since the two analog-to-digital converter according to this variant communicate with their evaluation devices via separate lines or buses, this signal transmission need not be provided with special Göwachungsme ⁇ methods, such as a checksum.
  • the measuring device according to the invention is in particular provided ⁇ see that the two angle measurements are compared with each other, either by an external device or by at least one of the two evaluation. For this purpose, it is desirable that the angle measurements are made at the same time.
  • one of the digital evaluation devices can send a command to the two analog-to-digital converters, in particular via a third bus or a third line, so that they generate their digitized signals and deliver them to the respective evaluation devices.
  • a synchronization of the two angle measurements can be done in a relatively simple manner.
  • the command generated by one of the two evaluation devices can also be sent to the other evaluation device, for example via a further line or a further bus, in order to also synchronize the two evaluation devices.
  • the two digital evaluation devices can also be connected via a fourth bus or a fourth line in order to exchange information about the determined angular positions. Then, for example, a cross comparison of the two angle measurements by means of at least one of the two evaluation devices is possible.
  • the angle measuring device according to the invention it comprises a first electrical voltage ⁇ source, which is arranged to generate a first reference voltage for the second device and a second electric voltage source, which is arranged to generate a second reference voltage for the first device.
  • the two devices are each assigned their own reference voltage sources, whereby the safety of the angle measuring device according to the invention can be increased.
  • the first electrical voltage source is designed as a first digital-to-analog converter and / or the second electrical voltage source is designed as a second digital-analog converter.
  • the first digital evaluation device is connected to the first digital-to-analog converter in order to set the value of the first reference voltage generated by the first digital-to-analog converter, and / or likewise the first digital evaluation device is connected to the second digital-to-analog converter in order to set the value of the second reference voltage generated by the second digital-to-analog converter.
  • the measuring device according to the invention can then be set up to check its functioning itself.
  • the second evaluation device controls both digital-analog converters so that they generate the desired reference voltages.
  • one of the evaluation devices to control one of the digital-analog converters and the other evaluation device to control the other digital-to-analog converter so that the desired reference voltages are generated.
  • the first analog-to-digital converter and the first digital-to-analog converter can be combined to form a first integrated component, and / or the second analog-to-digital converter and the second digital - Analog converter to be taken together to form a second integrated component.
  • a further aspect of the invention relates to a robot, in particular an industrial robot preferably lightweight ⁇ , comprising a control device, a movable by means of the control device robot arm having a plurality of members, of which at least one, controlled by the control device by means of a transmission having a drive with respect to a rotation axis is movable, and he ⁇ inventive measuring device, wherein the first means and the second means of the measuring device are coupled to the transmission such that the first and the second analo ⁇ ge electrical signal in each case a driven-side angle ⁇ measurement of the relevant member assigned.
  • a possible realization of the "safe" output-side angular position detection is the determination of the joint angle by means of a redundant design potentiometer which provides, for example, a voltage proportional to the joint angle output ⁇ voltage.
  • a redundant design potentiometer which provides, for example, a voltage proportional to the joint angle output ⁇ voltage.
  • this method is advantageous because the space required for the mounting of the potentiometer is relatively low.
  • the relevant angular position detection takes place on the output side.
  • the measuring device according to the invention makes it possible that data or signals are transmitted gegebe ⁇ appropriate, by means of as few cables to the digital detectors. If necessary Cross comparison of the data or the determined angular positions, in particular for determining the secure joint position, can advantageously be carried out directly on the two digital evaluation devices.
  • Fig. 2 shows a detail of the industrial robot in a sectional view and Fig. 3 is an angle measuring device for detecting a
  • FIG. 1 shows a perspective view of an industrial robot 1 with a robot arm 2.
  • the robot arm 2 comprises in the case of the present embodiment, a plurality of successively arranged and connected by joints members.
  • the links are, in particular, a stationary or movable frame 3 and a carousel 4 mounted rotatably relative to the frame 3 about a vertical axis AI, which is also referred to as axle 1.
  • Further links of the robot arm 2 are in the case of the present one Embodiment a rocker 5, a boom 6 and a preferably multi-axis robot hand 7 with a flange 8.
  • the rocker 5 is at the lower end, for example on a swing bearing head not shown on the carousel 4 about a preferably horizontal axis A2, which also referred to as axis 2 is stored, pivotally.
  • the rocker 5 At the upper end of the rocker 5 is again a likewise Preferably horizontal axis A3 of the boom 6 pivotally ge ⁇ stores. This end carries the robot hand 7 with its preferably three axes A4, A5, A6.
  • the industrial robot 1 or its robot arm 2 In order to move the industrial robot 1 or its robot arm 2, the latter comprises, in a generally known manner, drives connected to a control device 9, which drives are in particular electrical drives. In the figure 1, only some of the electric motors 10, 11 of these drives are shown.
  • the individual motors 10, 11 are each a gear 12 to ⁇ ordered, via which the motors 10, 11 their respective Glie ⁇ , for example, move the rocker 5 by means of a shaft 13.
  • the individual joint positions of the links i. the respective angular positions are respectively determined by means of an angle measuring device 20 shown in FIG.
  • the output signals of the angle-measuring devices 20, that is to say the corresponding determined angular positions, are transmitted, for example, to the control device 9, in order, e.g. to monitor the working space of the industrial robot 1.
  • the win ⁇ kelmessvorraum 20 an assembly or digital evaluation electronics 21, which may for example be part of the control device 9 or eg in or on the robot arm 2, preferably in or on the frame 3 of the industrial robot 1 is attached.
  • the digital evaluation device 21 has a first digital evaluation device 22 and a separate or independent of the first th evaluation 22 working second evaluation device 23.
  • the two evaluation devices 22, 23 are designed, for example, as FPGAs (Field Programmable Gate Array) and can communicate via a line or a bus 24, which is embodied, for example, as an SPI bus.
  • the angle measuring device 20 to a further assembly or detection device 25, in particular a tine plan- 26 has, on the plurality of electronic components are arranged on ⁇ .
  • the detection device 25 is arranged on the output side with respect to the individual motors 10, 11 or transmission 12 in or on the robot arm.
  • the detecting device 25 of the angle detecting device 20 detecting the angular position of the rocker 5 relative to the carousel 4 is fixed in the rocker 5.
  • the detection device 25 has a first potentiometer 27 and a second potentiometer 28.
  • the two potentiometers 27, 28 are mechanically connected to the shaft 13, so that the potentiometer from ⁇ output signals are a measure of the angular position of the swing arm 5 relative to the carousel. 4
  • the output signals of the potentiometers 27, 28 are in particular electrical voltages.
  • the output of the first potentiometer 27 is connected to the input of a first analog-to-digital converter 29 of the detection device 25.
  • a first analog signal processing device 30th intended be, which processes the analog output signal of the first potentiome ⁇ ter 27, for example, filters and / or amplified.
  • the output signal of the first potentiometer processed by the first analog signal processing device 30 is the input signal of the first analog-to-digital converter 29.
  • Output signal of the first analog-to-digital converter 29 is thus ⁇ also with a measure of the angular position of the rocker 5 relative to the carousel 4 in digital form.
  • the first analog-to-digital converter 29 is connected to the first evaluation devices 22, for example via a line or a bus 30, which is preferably designed as an SPI bus verbun ⁇ the.
  • the first evaluation unit 22 is arranged to detect on the basis of the ⁇ originating from the first analog-to-digital converter 29 the output signal of the angular position of the swing arm 5 relative to the carousel. 4
  • the output of the second potentiometer 28 is connected to the input of a second analog-to-digital converter 31 of the detection device 25.
  • a second analog signal processing device 32 may be provided that processes the analog output of the two ⁇ th potentiometer 28, for example, filters and / or ver strengthens ⁇ .
  • the processed by the second analog signal processing ⁇ device 32 output of the second po- setting potentiometer 28 is the input signal of the second analog-digital converter 31.
  • the output of the second analog-digital converter 31 is thus also a measure for the Win ⁇ kelposition the Rocker 5 relative to the carousel 4 in digital form.
  • the second analog-to-digital converter 31 is connected to the second evaluation means 23, for example via a line or a bus 33, which is preferably designed as an SPI bus verbun ⁇ the.
  • the second evaluation device 23 is set up on the basis of the output from the second analog-to-digital converter 31
  • the two potentiometers 27, 28, the two analog signal processing devices 30, 32 and the two analog-to-digital converters 29, 31 are in particular all mounted on the board 26, thus forming an assembly.
  • the two Poten ⁇ tiometer 27, 28 do not need to be fixed and can, for example, with its signal processing devices 30, 32 for example, over relatively short cable comparable bundne be on the board 26th
  • the angle detection device 20 offers two independently working angle measurements or angular position determinations of the rocker 5 relative to the carousel 4.
  • the two evaluation devices 22, 23 can communicate via the bus 24, and thus compare their angle measurements with each other.
  • the two evaluation devices 22, 23 or at least one of the two evaluation devices 22, 23 may or may be connected to the control device 9, which further processes the measured angular positions.
  • the angle-detecting device 20 also has an electrical power supply 34, for example with two power supplies 35, 36 for the analog and digital signal processing.
  • the voltage ⁇ supply 35 generates, for example, an electrical voltage for the two analog signal processing devices 30, 32 and the electrical power supply 36 generates, for example, an e- Lektwitz voltage for the two analog-to-digital converters 29, 31 and the two evaluation devices 22, 23rd
  • the digital evaluation unit 22 requests via a common line / bus line 37 in parallel from the analog-to-digital converter 29 and the analog-to-digital converter 31 to an A / D conversion. This ensures that the two evaluation devices 22, 23 determine the angular position of the rocker 5 at the same time.
  • the two analog-to-digital converters 29, 31 then independently determine a joint position or angular position and transmit them to the respective digital evaluation unit 22, 23.
  • the bus connection 30, 33, 37 is preferably designed as an SPI bus.
  • the request for the A / D conversion from the evaluation device 22 is also transmitted to the evaluation device 23.
  • the two potentiometers 27, 28 each require an electrical Refe rence ⁇ voltage. These are generated in the case of the present embodiment of a first digital-to-analog converter 38 and a second digital-to-analog converter 39.
  • the first digital-to-analog converter 38 generates the reference voltage for the second potentiometer 28 and the second digital-to-analog converter 39, the reference voltage for the first potentiometer 27.
  • the first digital-to-analog converter 38 is connected to the second potentiometer 28 via an electrical line 42 and the second digital-to-analog converter 39 is connected to the first potentiometer 27 via an electrical line 43.
  • Embodiment provided to selectively distort the input signals of the at ⁇ the analog-to-digital converter 29, 31 for test purposes. This is done, for example, as follows:
  • the two digital-to-analog converters 38, 39 change their output voltages and thus the supply voltages or reference voltages of the two potentiometers 27, 28.
  • the two detection means 22, 23 in this way an error in the analog signal chains, ie the signal paths from the two potentiometers 27, 28 to the two analog-digital converters 29, 31, eg short-circuit to the supply voltage.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

L'invention concerne un dispositif de mesure angulaire (20) destiné à déterminer une position angulaire d'un élément (5) par rapport à un autre élément (4), l'élément (5) étant disposé à rotation autour d'un axe de rotation (A2) par rapport à l'autre élément (4).
PCT/EP2011/052950 2010-03-09 2011-02-28 Dispositif de mesure angulaire et robot WO2011110440A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010010717.4 2010-03-09
DE201010010717 DE102010010717A1 (de) 2010-03-09 2010-03-09 Winkelmessvorrichtung und Roboter

Publications (1)

Publication Number Publication Date
WO2011110440A1 true WO2011110440A1 (fr) 2011-09-15

Family

ID=44069896

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/052950 WO2011110440A1 (fr) 2010-03-09 2011-02-28 Dispositif de mesure angulaire et robot

Country Status (2)

Country Link
DE (1) DE102010010717A1 (fr)
WO (1) WO2011110440A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015001741A1 (de) 2015-02-11 2016-08-11 Kuka Roboter Gmbh Verfahren und System zum Betreiben einer mehrachsigen Maschine, insbesondere eines Roboters
DE202022101400U1 (de) * 2022-03-16 2023-06-27 Igus Gmbh Roboter mit Absolutwertencoder

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100039103A1 (en) * 2008-08-18 2010-02-18 James Edward Lenz System for determining the position of a movable member

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3902247A1 (de) * 1989-01-26 1990-08-09 Bodenseewerk Geraetetech Vorrichtung zur steuerung der bewegungsablaeufe von handlingsystemen oder robotern
DE4133571A1 (de) * 1991-10-10 1993-04-15 Bosch Gmbh Robert Einrichtung zur erfassung einer veraenderlichen groesse bei fahrzeugen
DE4413098C2 (de) * 1994-04-15 2000-10-26 Lucas Ind Plc Meßvorrichtung für Linear- oder Angularbewegungen und Verwendung der Meßvorrichtung und eines Meßsensors
DE10235502C1 (de) * 2002-08-02 2003-12-24 Siemens Ag Vorrichtung und Verfahren zur sicheren Schalterstellungserkennung eines Drehschalters
DE102005048601B3 (de) * 2005-10-06 2007-04-05 Pilz Gmbh & Co. Kg Vorrichtung und Verfahren zum fehlersicheren Auswerten eines Stellungsgebers, insbesondere eines Potentiometers

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100039103A1 (en) * 2008-08-18 2010-02-18 James Edward Lenz System for determining the position of a movable member

Also Published As

Publication number Publication date
DE102010010717A1 (de) 2011-09-15

Similar Documents

Publication Publication Date Title
EP2231369B1 (fr) Robot et procédé pour surveiller les couples sur un tel robot
EP2628575B1 (fr) Procédé destiné à déterminer un couple et robot industriel
EP2388565B1 (fr) Dispositif de mesure et robot
DE102007050232B4 (de) Handhabungsroboter und Verfahren zur Steuerung eines Handhabungsroboters
EP2431977B1 (fr) Plateforme robotique pour l'inspection télécommandée et/ou autonome de dispositifs techniques
WO2020094166A1 (fr) Système de connexion radio d'un module à une commande
WO2018037011A1 (fr) Compensation de couple de saillance dans un robot industriel
WO2019110051A9 (fr) Agencement pour un système de mesure destiné à mesurer un objet de mesure et procédé destiné à mesurer un objet de mesure au moyen d'un système de mesure
DE102018216692B3 (de) Roboter-Handführgerät
DE102016213965A1 (de) Einsteckadapter, Justageinstrument und zugehöriger Roboter
DE102014226008B3 (de) Verfahren zur Überprüfung der Zuordnung eines Antriebs zu einer Steuereinrichtung
WO2011110440A1 (fr) Dispositif de mesure angulaire et robot
DE202008007949U1 (de) Vorrichtung zur Messung und Kartographie mittels Ultraschall
DE102011052386B4 (de) Verfahren und Vorrichtung zum Kalibrieren einer Ursprungsposition eines Gelenkarmroboters
DE102016013083B4 (de) Kalibrieren eines Modells eines Prozess-Roboters und Betreiben eines Prozess-Roboters
DE102004028557A1 (de) Verfahren und System zur Zustandsbewertung von wenigstens einem Achsgelenk
DE102009056578B4 (de) Industrieroboter
DE102020105712A1 (de) Sensorvorrichtung und Verfahren zum Überwachen einer durch ein Spannelement einer Spannvorrichtung auf ein Bauteil ausgeübten Spannkraft
DE102021114598B4 (de) Verfahren zum Durchführen einer Herstellungsoperation sowie Herstellungssystem zur Durchfürung des Verfahrens
DE102019102798A1 (de) Kombinieren zweier einzelner Robotermanipulatoren zu einem Robotersystem durch Kalibrieren
WO2022028828A1 (fr) Dispositif et procédé permettant de capturer des vitesses de segments de bras d'un robot
DE102012208252A1 (de) Verfahren und Vorrichtung zur hochgenauen Positionierung eines durch einen Roboter geführten Werkzeugs
DE4314597A1 (de) Meßanordnung zur Positionsbestimmung bei Manipulatoren
DE102018109329B4 (de) Mehrgliedrige aktuierte Kinematik, vorzugsweise Roboter, besonders vorzugsweise Knickarmroboter
DE102015202076A1 (de) Verfahren zum Justieren eines Drehmomentsensors eines Roboterarms und Roboter mit einem Roboterarm und einer Steuervorrichtung

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11707632

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 11707632

Country of ref document: EP

Kind code of ref document: A1