DE60018421D1 - Eichen eines visuell geführten roboters mit zwei bildaufnehmern - Google Patents
Eichen eines visuell geführten roboters mit zwei bildaufnehmernInfo
- Publication number
- DE60018421D1 DE60018421D1 DE60018421T DE60018421T DE60018421D1 DE 60018421 D1 DE60018421 D1 DE 60018421D1 DE 60018421 T DE60018421 T DE 60018421T DE 60018421 T DE60018421 T DE 60018421T DE 60018421 D1 DE60018421 D1 DE 60018421D1
- Authority
- DE
- Germany
- Prior art keywords
- positions
- robot
- effector
- sensor
- frame
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
-
- 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
- G05B2219/39024—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
- G05B2219/39057—Hand eye calibration, eye, camera on hand, end effector
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB9914918 | 1999-06-26 | ||
GBGB9914918.9A GB9914918D0 (en) | 1999-06-26 | 1999-06-26 | Method and apparatus for calibrating a first co-ordinate frame of an indexing means in a second frame of a sensing means |
PCT/GB2000/002225 WO2001000371A1 (en) | 1999-06-26 | 2000-06-08 | Method and apparatus for calibrating visual guided robot |
Publications (2)
Publication Number | Publication Date |
---|---|
DE60018421D1 true DE60018421D1 (de) | 2005-04-07 |
DE60018421T2 DE60018421T2 (de) | 2005-07-21 |
Family
ID=10856092
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE60018421T Expired - Fee Related DE60018421T2 (de) | 1999-06-26 | 2000-06-08 | Eichen eines visuell geführten roboters mit zwei bildaufnehmern |
Country Status (9)
Country | Link |
---|---|
US (1) | US6618633B1 (de) |
EP (1) | EP1192024B8 (de) |
JP (1) | JP3579396B2 (de) |
AT (1) | ATE289897T1 (de) |
AU (1) | AU770236B2 (de) |
DE (1) | DE60018421T2 (de) |
ES (1) | ES2234625T3 (de) |
GB (1) | GB9914918D0 (de) |
WO (1) | WO2001000371A1 (de) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1400777A1 (de) * | 2002-09-23 | 2004-03-24 | Metronom GmbH Industrial Measurements | Optische Vermessungsvorrichtung |
US7555331B2 (en) * | 2004-08-26 | 2009-06-30 | Stereotaxis, Inc. | Method for surgical navigation utilizing scale-invariant registration between a navigation system and a localization system |
GB0513899D0 (en) | 2005-07-06 | 2005-08-10 | Airbus Uk Ltd | Program-controlled process |
US7669708B2 (en) * | 2006-08-31 | 2010-03-02 | Martin Engineering Company | Bulk material handling system and control |
US7556140B2 (en) * | 2006-08-31 | 2009-07-07 | Martin Engineering Company | Bulk material handling system |
NL1036673A1 (nl) * | 2008-04-09 | 2009-10-12 | Asml Holding Nv | Robot Position Calibration Tool (RPCT). |
US8037996B2 (en) * | 2009-01-05 | 2011-10-18 | Asm Assembly Automation Ltd | Transfer apparatus for handling electronic components |
EP2255930A1 (de) * | 2009-05-27 | 2010-12-01 | Leica Geosystems AG | Verfahren und System zum hochpräzisen Positionieren mindestens eines Objekts in eine Endlage im Raum |
CN101592482B (zh) * | 2009-06-30 | 2011-03-02 | 上海磁浮交通发展有限公司 | 大型构件精确定位的方法 |
US9393694B2 (en) | 2010-05-14 | 2016-07-19 | Cognex Corporation | System and method for robust calibration between a machine vision system and a robot |
JP4819957B1 (ja) | 2010-06-01 | 2011-11-24 | ファナック株式会社 | ロボットの位置情報復元装置および位置情報復元方法 |
US8205741B2 (en) | 2010-08-06 | 2012-06-26 | Martin Engineering Company | Method of adjusting conveyor belt scrapers and open loop control system for conveyor belt scrapers |
CN102601684B (zh) * | 2012-04-06 | 2013-11-20 | 南京航空航天大学 | 基于间接测量法的高精度制孔机器人的工具参数标定方法 |
TW201600275A (zh) * | 2014-06-26 | 2016-01-01 | Hiwin Tech Corp | 機械手臂系統及其平行度校正方法 |
US9857786B2 (en) | 2015-03-31 | 2018-01-02 | Recognition Robotics, Inc. | System and method for aligning a coordinated movement machine reference frame with a measurement system reference frame |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4753569A (en) | 1982-12-28 | 1988-06-28 | Diffracto, Ltd. | Robot calibration |
DE3371487D1 (en) * | 1982-12-28 | 1987-06-19 | Diffracto Ltd | Apparatus and method for robot calibration |
JPH01193902A (ja) * | 1988-01-29 | 1989-08-03 | Hitachi Ltd | 手先視覚付きロボットの座標系較正方法 |
US4810154A (en) * | 1988-02-23 | 1989-03-07 | Molex Incorporated | Component feeder apparatus and method for vision-controlled robotic placement system |
US5083073A (en) | 1990-09-20 | 1992-01-21 | Mazada Motor Manufacturing U.S.A. Corp. | Method and apparatus for calibrating a vision guided robot |
JPH0750068Y2 (ja) * | 1990-10-09 | 1995-11-15 | 株式会社椿本チエイン | レーザ加工機用ワーク回転装置のワーク設置台の傾斜角微調整機構 |
US5297238A (en) * | 1991-08-30 | 1994-03-22 | Cimetrix Incorporated | Robot end-effector terminal control frame (TCF) calibration method and device |
NO302055B1 (no) | 1993-05-24 | 1998-01-12 | Metronor As | Fremgangsmåte og system for geometrimåling |
US6419680B1 (en) * | 1993-06-10 | 2002-07-16 | Sherwood Services Ag | CT and MRI visible index markers for stereotactic localization |
US5526671A (en) * | 1995-01-09 | 1996-06-18 | Polen; Larry A. | Method and apparatus for leveling a die on a die-forming machine |
GB9517214D0 (en) * | 1995-08-23 | 1995-10-25 | Renishaw Plc | Calibration of an articulating probe head for a coordinating positioning machine |
US5698851A (en) * | 1996-04-03 | 1997-12-16 | Placa Ltd. | Device and method for precise angular measurement by mapping small rotations into large phase shifts |
WO1998011405A1 (en) | 1996-09-16 | 1998-03-19 | Brewco | Measuring device primarily for use with vehicles |
US6186539B1 (en) * | 1998-07-01 | 2001-02-13 | Trw Inc. | Method and apparatus for controlling an actuatable restraint device using crash severity indexing and crush zone sensor |
JP2001193902A (ja) * | 2000-01-13 | 2001-07-17 | Hitachi Plant Eng & Constr Co Ltd | 機器の鉄骨構造物への据付け方法 |
-
1999
- 1999-06-26 GB GBGB9914918.9A patent/GB9914918D0/en not_active Ceased
-
2000
- 2000-06-08 DE DE60018421T patent/DE60018421T2/de not_active Expired - Fee Related
- 2000-06-08 AU AU55430/00A patent/AU770236B2/en not_active Ceased
- 2000-06-08 AT AT00940502T patent/ATE289897T1/de not_active IP Right Cessation
- 2000-06-08 EP EP00940502A patent/EP1192024B8/de not_active Expired - Lifetime
- 2000-06-08 JP JP2001506065A patent/JP3579396B2/ja not_active Expired - Fee Related
- 2000-06-08 ES ES00940502T patent/ES2234625T3/es not_active Expired - Lifetime
- 2000-06-08 WO PCT/GB2000/002225 patent/WO2001000371A1/en active Search and Examination
- 2000-06-08 US US09/647,545 patent/US6618633B1/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US6618633B1 (en) | 2003-09-09 |
ES2234625T3 (es) | 2005-07-01 |
DE60018421T2 (de) | 2005-07-21 |
EP1192024A1 (de) | 2002-04-03 |
JP2003503221A (ja) | 2003-01-28 |
ATE289897T1 (de) | 2005-03-15 |
EP1192024B1 (de) | 2005-03-02 |
AU5543000A (en) | 2001-01-31 |
JP3579396B2 (ja) | 2004-10-20 |
AU770236B2 (en) | 2004-02-19 |
WO2001000371A1 (en) | 2001-01-04 |
GB9914918D0 (en) | 1999-08-25 |
EP1192024B8 (de) | 2005-04-20 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8339 | Ceased/non-payment of the annual fee |