DE69637413D1 - Kompositdetektionssystem für roboter - Google Patents

Kompositdetektionssystem für roboter

Info

Publication number
DE69637413D1
DE69637413D1 DE69637413T DE69637413T DE69637413D1 DE 69637413 D1 DE69637413 D1 DE 69637413D1 DE 69637413 T DE69637413 T DE 69637413T DE 69637413 T DE69637413 T DE 69637413T DE 69637413 D1 DE69637413 D1 DE 69637413D1
Authority
DE
Germany
Prior art keywords
robots
detection system
composite detection
composite
detection
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 - Lifetime
Application number
DE69637413T
Other languages
English (en)
Other versions
DE69637413T2 (de
Inventor
Takashi Jyumonji
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Application granted granted Critical
Publication of DE69637413D1 publication Critical patent/DE69637413D1/de
Publication of DE69637413T2 publication Critical patent/DE69637413T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36427—Jog feed to a command position, if close enough robot takes over positioning
    • 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
    • G05B2219/39391—Visual servoing, track end effector with camera image feedback
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45123—Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
DE69637413T 1995-12-27 1996-12-24 Kompositdetektionssystem für roboter Expired - Lifetime DE69637413T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP35118095 1995-12-27
JP35118095 1995-12-27
PCT/JP1996/003765 WO1997024206A1 (fr) 1995-12-27 1996-12-24 Systeme robotique composite de detection

Publications (2)

Publication Number Publication Date
DE69637413D1 true DE69637413D1 (de) 2008-03-13
DE69637413T2 DE69637413T2 (de) 2009-01-22

Family

ID=18415599

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69637413T Expired - Lifetime DE69637413T2 (de) 1995-12-27 1996-12-24 Kompositdetektionssystem für roboter

Country Status (5)

Country Link
US (1) US5987591A (de)
EP (1) EP0812662B1 (de)
JP (1) JP3904605B2 (de)
DE (1) DE69637413T2 (de)
WO (1) WO1997024206A1 (de)

Families Citing this family (78)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0970780A (ja) * 1995-09-06 1997-03-18 Fanuc Ltd ロボットのツール形状補正方式
US7065462B2 (en) * 1998-07-24 2006-06-20 Merilab, Inc. Vehicle wheel alignment by rotating vision sensor
US6195620B1 (en) * 1998-08-05 2001-02-27 Ford Global Technologies, Inc. Method for determining a geometry of a raw cylinder head casting and device for carrying out same
JP2000135689A (ja) * 1998-10-30 2000-05-16 Fanuc Ltd ロボット用画像処理装置
US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
JP3421608B2 (ja) * 1999-04-08 2003-06-30 ファナック株式会社 教示モデル生成装置
US6415051B1 (en) * 1999-06-24 2002-07-02 Geometrix, Inc. Generating 3-D models using a manually operated structured light source
JP3556589B2 (ja) * 2000-09-20 2004-08-18 ファナック株式会社 位置姿勢認識装置
DE20019096U1 (de) * 2000-11-10 2001-01-18 Dual M Tech Ag Vorrichtung zum zielgerichteten Bewegen elektronischer Bauteile mit einem Schwenkspiegel
JP3703411B2 (ja) 2001-07-19 2005-10-05 ファナック株式会社 ワーク取り出し装置
US6730926B2 (en) * 2001-09-05 2004-05-04 Servo-Robot Inc. Sensing head and apparatus for determining the position and orientation of a target object
WO2003033219A2 (de) * 2001-10-15 2003-04-24 Hermann Tropf Korrektur der relativbewegung zwischen greif- oder bearbeitungswerkzeugen und werkstücken
GB0125079D0 (en) * 2001-10-18 2001-12-12 Cimac Automation Ltd Auto motion:robot guidance for manufacturing
US7099796B2 (en) * 2001-10-22 2006-08-29 Honeywell International Inc. Multi-sensor information fusion technique
JP2003148914A (ja) * 2001-11-08 2003-05-21 Fanuc Ltd 位置検出装置及び位置検出を利用した取出し装置
JP3806342B2 (ja) 2001-11-26 2006-08-09 三菱重工業株式会社 ３次元形状物溶接方法及びその装置
EP1314510B1 (de) * 2001-11-26 2008-03-19 Mitsubishi Heavy Industries, Ltd. Verfahren und Vorrichtung zum Schweissen einer dreidimensionalen Struktur
JP3859571B2 (ja) * 2002-10-17 2006-12-20 ファナック株式会社 ３次元視覚センサ
DE20218352U1 (de) * 2002-11-26 2003-01-23 Reishauer Ag Einzentriervorrichtung zum Ausrichten von vorverzahnten Werkstücken auf Verzahnungsfeinbearbeitungsmaschinen
JP3950805B2 (ja) * 2003-02-27 2007-08-01 ファナック株式会社 教示位置修正装置
JP2005108144A (ja) * 2003-10-02 2005-04-21 Fanuc Ltd ロボットの補正データ確認装置
DE102004024378B4 (de) * 2004-05-17 2009-05-20 Kuka Roboter Gmbh Verfahren zur robotergestützten Vermessung von Objekten
DE102004026185A1 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
NZ533533A (en) * 2004-06-11 2006-11-30 Avalon Engineering Ltd Deployment method and apparatus for moving stacked articles in varying orientations
JP4087841B2 (ja) * 2004-12-21 2008-05-21 ファナック株式会社 ロボット制御装置
US7830561B2 (en) * 2005-03-16 2010-11-09 The Trustees Of Columbia University In The City Of New York Lensless imaging with controllable apertures
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
JP2007101197A (ja) * 2005-09-30 2007-04-19 Nachi Fujikoshi Corp 物体探索装置，物体探索装置を備えるロボットシステム及び物体探索方法
CN101346800B (zh) * 2005-12-20 2011-09-14 株式会社半导体能源研究所 用于制造半导体装置的激光辐射设备和方法
JP4199264B2 (ja) * 2006-05-29 2008-12-17 ファナック株式会社 ワーク取り出し装置及び方法
US20080064931A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasive surgical illumination
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US7590680B2 (en) * 2006-06-29 2009-09-15 Microsoft Corporation Extensible robotic framework and robot modeling
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
JP2009000782A (ja) * 2007-06-21 2009-01-08 Idec Corp ロボット制御システムおよびロボットハンド
JP2009218933A (ja) * 2008-03-11 2009-09-24 Seiko Epson Corp スマートカメラ及びロボットビジョンシステム
CN101981405B (zh) 2008-03-28 2012-11-21 本田技研工业株式会社 工件测定方法、悬架总成安装方法以及悬架总成安装装置
DE102008023264B4 (de) * 2008-05-13 2017-01-05 Smart Optics Sensortechnik Gmbh Verfahren zur flexiblen Erfassung der geometrischen Form von Objekten mit optischer 3D-Messtechnik
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
JP5333344B2 (ja) * 2009-06-19 2013-11-06 株式会社安川電機 形状検出装置及びロボットシステム
JP2011033497A (ja) * 2009-08-03 2011-02-17 Honda Motor Co Ltd 環境認識システム、環境認識方法およびロボット
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
JP4837116B2 (ja) 2010-03-05 2011-12-14 ファナック株式会社 視覚センサを備えたロボットシステム
JP4938115B2 (ja) * 2010-07-27 2012-05-23 ファナック株式会社 ワーク取出し装置およびワーク取出し方法
CN102909728B (zh) * 2011-08-05 2015-11-25 鸿富锦精密工业（深圳）有限公司 机器人工具中心点的视觉校正方法
JP6052871B2 (ja) * 2012-11-30 2016-12-27 国立大学法人横浜国立大学 対象物移動装置、方法、プログラム、及び記録媒体
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
CN103213136B (zh) * 2013-03-22 2016-06-15 南通航运职业技术学院 一种用于工业机器人牵引示教的方法和系统
US9874628B2 (en) * 2013-11-12 2018-01-23 The Boeing Company Dual hidden point bars
CN104765380B (zh) * 2014-01-03 2017-04-19 科沃斯商用机器人有限公司 光点指示机器人及其光点指示方法
CN106462140B (zh) * 2014-04-30 2019-04-26 Abb瑞士股份有限公司 用于标定工业机器人系统的工具中心点的方法
DE102015204867A1 (de) * 2015-03-18 2016-09-22 Kuka Roboter Gmbh Robotersystem und Verfahren zum Betrieb eines teleoperativen Prozesses
US9757859B1 (en) * 2016-01-21 2017-09-12 X Development Llc Tooltip stabilization
US9815204B2 (en) * 2016-01-22 2017-11-14 The Boeing Company Apparatus and method to optically locate workpiece for robotic operations
US9744665B1 (en) 2016-01-27 2017-08-29 X Development Llc Optimization of observer robot locations
US10059003B1 (en) 2016-01-28 2018-08-28 X Development Llc Multi-resolution localization system
CN108313778B (zh) * 2017-01-16 2020-01-14 泰科电子(上海)有限公司 膜片供应系统和方法
JP6586644B2 (ja) * 2017-02-24 2019-10-09 パナソニックＩｐマネジメント株式会社 電子機器製造装置および電子機器製造方法
US10870996B2 (en) 2017-03-31 2020-12-22 Canvas Construction, Inc. Automated insulation application system and method
EP3630404B1 (de) * 2017-05-24 2024-01-03 Inrotech Aps Vorrichtung und verfahren zum automatisierten nahtschweissen eines werkstücks, das eine basisplatte mit einem muster von hochstehenden profilen enthält
WO2019028075A1 (en) * 2017-08-01 2019-02-07 Enova Technology, Inc. INTELLIGENT ROBOTS
US10577810B2 (en) 2017-09-25 2020-03-03 Canvas Construction, Inc. Automated wall finishing system and method
JP2019058993A (ja) * 2017-09-27 2019-04-18 セイコーエプソン株式会社 ロボットシステム
US10967507B2 (en) 2018-05-02 2021-04-06 X Development Llc Positioning a robot sensor for object classification
JP2022522067A (ja) * 2019-02-21 2022-04-13 キャンヴァス コンストラクション インコーポレイテッド 表面仕上げ品質評価システム及び方法
CN113439013A (zh) * 2019-02-25 2021-09-24 国立大学法人东京大学 机器人系统，机器人的控制装置，以及机器人的控制程序
CN109895098B (zh) * 2019-03-25 2020-09-29 华中科技大学 一种机器人结构参数和手眼关系的统一标定模型
US11312581B2 (en) * 2019-04-16 2022-04-26 Abb Schweiz Ag Object grasp system and method
CN114152206B (zh) * 2021-12-15 2024-02-27 武汉理工大学重庆研究院 一种工件尺寸视觉检测装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58114892A (ja) * 1981-12-26 1983-07-08 日産自動車株式会社 ロボツトの視覚装置
DE3635076A1 (de) * 1986-10-15 1988-04-28 Messerschmitt Boelkow Blohm Roboteranlage mit beweglichen manipulatoren
JP2716052B2 (ja) * 1987-01-13 1998-02-18 株式会社日立製作所 加工方法及び装置並びに加工品質管理方法
FR2630957A1 (fr) * 1988-05-05 1989-11-10 Peugeot Dispositif d'asservissement pour robot manipulateur
JPH041505A (ja) * 1990-04-18 1992-01-07 Matsushita Electric Ind Co Ltd ワークの３次元位置計測方法とワークの捕捉方法
JPH04261789A (ja) * 1991-02-18 1992-09-17 Matsushita Electric Ind Co Ltd 部品移載装置
US5321353A (en) * 1992-05-13 1994-06-14 Storage Technolgy Corporation System and method for precisely positioning a robotic tool
JPH0724585A (ja) * 1993-07-09 1995-01-27 Tomoe Corp 構造部材の溶接方法
JPH0724585U (ja) * 1993-09-29 1995-05-09 株式会社明電舎 ワークハンドリング装置
JPH07266272A (ja) * 1994-03-29 1995-10-17 Nippon Telegr & Teleph Corp <Ntt> マニピュレータ用追従方法及び装置
JP3418456B2 (ja) * 1994-06-23 2003-06-23 ファナック株式会社 ロボット位置教示具及びロボット位置教示方法

Also Published As

Publication number Publication date
EP0812662A1 (de) 1997-12-17
JP3904605B2 (ja) 2007-04-11
EP0812662A4 (de) 2000-11-15
DE69637413T2 (de) 2009-01-22
US5987591A (en) 1999-11-16
WO1997024206A1 (fr) 1997-07-10
EP0812662B1 (de) 2008-01-23

Similar Documents

Publication Publication Date Title
DE69637413D1 (de) Kompositdetektionssystem für roboter
DE69425779D1 (de) Hindernis-Entdeckungssystem für Fahrzeuge
DE69632309D1 (de) Fügeelement prüfsystem
DE69825763D1 (de) Versigelungssystem für trokar
DE69414674T2 (de) Robotersystem
DE69622572T2 (de) Lehrvorrichtung für roboter
DE69612201T2 (de) Verbundmontagesystem
DE69604908D1 (de) Verarbeitungshilfsmittelsystem für polyolefinen
DE69415226T2 (de) Robotorsystem für Schneidevorrichtung
DE69621431D1 (de) Leckerkennungssystem für gas
DE69520163T2 (de) Fehlererkennungssystem für Fahrzeug
DE69733955D1 (de) Steuersystem für akustischen melder
DE69610507D1 (de) Verbindungssystem für betätigungskabel
DE69507102D1 (de) Verfahrsystem für Roboter
DE69601020T2 (de) Positionserkennungsystem für Fahrzeuge
DE69606113T2 (de) Roboter
DE29510012U1 (de) Roboter
DE69409970D1 (de) Transponder für detektierungssystem
FI956264A0 (fi) Hyttijärjestelmä
DE29510972U1 (de) Handhabungssystem für längliche Objekte
DE9318057U1 (de) Alarmanlage für Fahrzeuge
KR970011153U (ko) 패널의 검사장치
KR950014597U (ko) 자동차 배기가스 배출장치
DE59401920D1 (de) Abgasanlage
KR960000742U (ko) 로보트의 흡진장치

Legal Events

Date Code Title Description
8364 No opposition during term of opposition