[go: up one dir, main page]

SE509505C2 - Positioneringsmetod och positioneringsanordning f ör ett produktionssystem - Google Patents

Positioneringsmetod och positioneringsanordning f ör ett produktionssystem

Info

Publication number
SE509505C2
SE509505C2 SE9600622A SE9600622A SE509505C2 SE 509505 C2 SE509505 C2 SE 509505C2 SE 9600622 A SE9600622 A SE 9600622A SE 9600622 A SE9600622 A SE 9600622A SE 509505 C2 SE509505 C2 SE 509505C2
Authority
SE
Sweden
Prior art keywords
positioning
head
work object
positioning head
control unit
Prior art date
Application number
SE9600622A
Other languages
English (en)
Swedish (sv)
Other versions
SE9600622L (sv
SE9600622D0 (sv
Inventor
Karl-Erik Neumann
Original Assignee
Neos Robotics Ab
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 Neos Robotics Ab filed Critical Neos Robotics Ab
Priority to SE9600622A priority Critical patent/SE509505C2/sv
Publication of SE9600622D0 publication Critical patent/SE9600622D0/xx
Priority to DE69722184T priority patent/DE69722184T2/de
Priority to US09/125,358 priority patent/US6043621A/en
Priority to CN97192398A priority patent/CN1070408C/zh
Priority to PCT/SE1997/000259 priority patent/WO1997030826A1/fr
Priority to DK97905528T priority patent/DK0883468T3/da
Priority to ES97905528T priority patent/ES2202579T3/es
Priority to AT97905528T priority patent/ATE240820T1/de
Priority to AU22375/97A priority patent/AU2237597A/en
Priority to PT97905528T priority patent/PT883468E/pt
Priority to EP97905528A priority patent/EP0883468B1/fr
Priority to JP09530056A priority patent/JP2000512558A/ja
Priority to CA002245177A priority patent/CA2245177A1/fr
Priority to RU98117235/02A priority patent/RU2177403C2/ru
Priority to KR10-1998-0706418A priority patent/KR100441306B1/ko
Priority to BR9707722-4A priority patent/BR9707722A/pt
Publication of SE9600622L publication Critical patent/SE9600622L/xx
Publication of SE509505C2 publication Critical patent/SE509505C2/sv

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37053—Optical triangulation
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37567—3-D vision, stereo vision, with two cameras

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Automatic Assembly (AREA)
  • Acyclic And Carbocyclic Compounds In Medicinal Compositions (AREA)
  • Vehicle Body Suspensions (AREA)
SE9600622A 1996-02-20 1996-02-20 Positioneringsmetod och positioneringsanordning f ör ett produktionssystem SE509505C2 (sv)

Priority Applications (16)

Application Number Priority Date Filing Date Title
SE9600622A SE509505C2 (sv) 1996-02-20 1996-02-20 Positioneringsmetod och positioneringsanordning f ör ett produktionssystem
BR9707722-4A BR9707722A (pt) 1996-02-20 1997-02-17 Sistema de posicionamento aplicado em processos de producão
AU22375/97A AU2237597A (en) 1996-02-20 1997-02-17 A production positioning system
EP97905528A EP0883468B1 (fr) 1996-02-20 1997-02-17 Systeme de positionnement pour operation de production
CN97192398A CN1070408C (zh) 1996-02-20 1997-02-17 生产定位系统
PCT/SE1997/000259 WO1997030826A1 (fr) 1996-02-20 1997-02-17 Systeme de positionnement pour operation de production
DK97905528T DK0883468T3 (da) 1996-02-20 1997-02-17 Produktionspositioneringssystem
ES97905528T ES2202579T3 (es) 1996-02-20 1997-02-17 Sistema de posicionamiento para la operacion de produccion.
AT97905528T ATE240820T1 (de) 1996-02-20 1997-02-17 Produktionspositionsiereinrichtung
DE69722184T DE69722184T2 (de) 1996-02-20 1997-02-17 Produktionspositionsiereinrichtung
PT97905528T PT883468E (pt) 1996-02-20 1997-02-17 Um sistema de posicionamento da producao
US09/125,358 US6043621A (en) 1996-02-20 1997-02-17 Production positioning system
JP09530056A JP2000512558A (ja) 1996-02-20 1997-02-17 製品位置決めシステム
CA002245177A CA2245177A1 (fr) 1996-02-20 1997-02-17 Systeme de positionnement pour operation de production
RU98117235/02A RU2177403C2 (ru) 1996-02-20 1997-02-17 Производственная позиционирующая система
KR10-1998-0706418A KR100441306B1 (ko) 1996-02-20 1997-02-17 생산위치결정시스템

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9600622A SE509505C2 (sv) 1996-02-20 1996-02-20 Positioneringsmetod och positioneringsanordning f ör ett produktionssystem

Publications (3)

Publication Number Publication Date
SE9600622D0 SE9600622D0 (sv) 1996-02-20
SE9600622L SE9600622L (sv) 1997-08-21
SE509505C2 true SE509505C2 (sv) 1999-02-01

Family

ID=20401458

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9600622A SE509505C2 (sv) 1996-02-20 1996-02-20 Positioneringsmetod och positioneringsanordning f ör ett produktionssystem

Country Status (16)

Country Link
US (1) US6043621A (fr)
EP (1) EP0883468B1 (fr)
JP (1) JP2000512558A (fr)
KR (1) KR100441306B1 (fr)
CN (1) CN1070408C (fr)
AT (1) ATE240820T1 (fr)
AU (1) AU2237597A (fr)
BR (1) BR9707722A (fr)
CA (1) CA2245177A1 (fr)
DE (1) DE69722184T2 (fr)
DK (1) DK0883468T3 (fr)
ES (1) ES2202579T3 (fr)
PT (1) PT883468E (fr)
RU (1) RU2177403C2 (fr)
SE (1) SE509505C2 (fr)
WO (1) WO1997030826A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999067066A1 (fr) * 1998-06-25 1999-12-29 Neos Robotics Ab Systeme et procede permettant de commander un robot

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE515548C2 (sv) * 1998-12-03 2001-08-27 Abb Ab Industrirobot med ett armsystem enligt deltakonceptet och förfarande för tillverkning av en industrirobot samt användning
RU2200971C2 (ru) * 2001-01-15 2003-03-20 Дальневосточный государственный технический университет Система управления телекамерой
US6514018B2 (en) * 2001-03-22 2003-02-04 The Boeing Company Pneumatic drilling end effector
US6557235B1 (en) 2002-03-06 2003-05-06 The Regents Of The University Of Michigan Bi-axial coplanar apparatus
DE10239673A1 (de) * 2002-08-26 2004-03-11 Markus Schwarz Vorrichtung zur Bearbeitung von Teilen
JP3977369B2 (ja) * 2004-10-01 2007-09-19 ファナック株式会社 ロボットプログラム生成装置及び解析装置
DE102010006504B4 (de) * 2010-01-28 2013-11-21 Chiron-Werke Gmbh & Co. Kg Verfahren zur Bestimmung der Position eines Werkzeuges
RU2468896C2 (ru) * 2010-02-01 2012-12-10 Юрий Леонидович Кузнецов Способ обработки длинномерных деталей и устройство для его осуществления
CN102794775A (zh) * 2011-05-26 2012-11-28 宝山钢铁股份有限公司 一种用于转炉内的副枪机械手的定位方法及装置
CN103273496B (zh) * 2013-05-08 2015-07-15 长沙长泰机器人有限公司 一种利用智能相机在机器人搬运系统中定位工件的方法
CN104385270B (zh) * 2014-09-25 2016-09-07 国家电网公司 一种智能表库的激光感应智能定位系统和方法
DE102014221877A1 (de) * 2014-10-28 2016-04-28 Bayerische Motoren Werke Aktiengesellschaft System und Verfahren zum lagegenauen Platzieren eines zu bearbeitenden Objekts an einer Fertigungsvorrichtung
DE102014119654A1 (de) * 2014-12-29 2016-06-30 Brötje-Automation GmbH Verfahren zur Kompensation einer Abweichung eines Arbeitspunkts
CN104842353B (zh) * 2015-05-19 2016-05-25 北京理工大学 基于超声换能器标定的机械手定位方法、系统及标定工具
RU2626243C1 (ru) * 2016-07-01 2017-07-25 федеральное государственное автономное образовательное учреждение высшего образования "Санкт-Петербургский национальный исследовательский университет информационных технологий, механики и оптики" (Университет ИТМО) Способ определения пространственных координат объектов и система для его реализации
EA032970B1 (ru) * 2017-03-30 2019-08-30 Общество С Ограниченной Ответственностью "Белфин" Роботизированный технологический комплекс и способ управления этим комплексом
CN107877516B (zh) * 2017-10-31 2021-06-22 西安科锐盛创新科技有限公司 送餐机器人系统

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU639698A1 (ru) * 1977-08-22 1978-12-30 Военный Инженерный Краснознаменный Институт Им.А.Ф.Можайского Способ управлени манипул тором
SU782993A1 (ru) * 1979-02-05 1980-12-05 Филиал Ростовского Научно-Исследовательского Института Технологии Машиностроения Робот к листоштамповочному прессу
GB2099255B (en) * 1981-05-15 1985-09-04 Atomic Energy Authority Uk A system and a method for detecting the position of an object
US4806066A (en) * 1982-11-01 1989-02-21 Microbot, Inc. Robotic arm
EP0151417A1 (fr) * 1984-01-19 1985-08-14 Hitachi, Ltd. Méthode pour la correction de systèmes de cordonnées dans un robot à l'aide d'un moyen de visualisation et appareillage adéquat
US5267143A (en) * 1984-10-12 1993-11-30 Sensor Adaptive Machines, Incorporated Vision assisted fixture construction
SE452279B (sv) * 1985-05-10 1987-11-23 Neos Products Hb Robot
DE3545960C1 (de) * 1985-12-23 1987-07-09 Messerschmitt Boelkow Blohm Verfahren und Anordnung zur Erkennung von Teilen
JPS6327904A (ja) * 1986-07-22 1988-02-05 Hitachi Ltd サ−ボ機構装置の位置修正制御方式
JPH02262982A (ja) * 1989-03-31 1990-10-25 Fanuc Ltd ツールセンタポイントの設定方法
US5257203A (en) * 1989-06-09 1993-10-26 Regents Of The University Of Minnesota Method and apparatus for manipulating computer-based representations of objects of complex and unique geometry
JP2698660B2 (ja) * 1989-06-12 1998-01-19 株式会社日立製作所 マニピュレータの制御方法及び制御装置並びにマニピュレータ装置
US5340962A (en) * 1992-08-14 1994-08-23 Lumonics Corporation Automatic control of laser beam tool positioning

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999067066A1 (fr) * 1998-06-25 1999-12-29 Neos Robotics Ab Systeme et procede permettant de commander un robot

Also Published As

Publication number Publication date
DE69722184D1 (de) 2003-06-26
EP0883468B1 (fr) 2003-05-21
KR100441306B1 (ko) 2004-09-18
KR19990082672A (ko) 1999-11-25
WO1997030826A1 (fr) 1997-08-28
DE69722184T2 (de) 2004-04-08
JP2000512558A (ja) 2000-09-26
CN1070408C (zh) 2001-09-05
CN1216017A (zh) 1999-05-05
BR9707722A (pt) 2000-01-04
EP0883468A1 (fr) 1998-12-16
AU2237597A (en) 1997-09-10
SE9600622L (sv) 1997-08-21
DK0883468T3 (da) 2003-09-15
CA2245177A1 (fr) 1997-08-28
SE9600622D0 (sv) 1996-02-20
ATE240820T1 (de) 2003-06-15
PT883468E (pt) 2003-10-31
ES2202579T3 (es) 2004-04-01
US6043621A (en) 2000-03-28
RU2177403C2 (ru) 2001-12-27

Similar Documents

Publication Publication Date Title
SE509505C2 (sv) Positioneringsmetod och positioneringsanordning f ör ett produktionssystem
JP7206037B2 (ja) 運動学的較正
US5239855A (en) Positional calibration of robotic arm joints relative to the gravity vector
CN104759945B (zh) 基于高精度工业相机的移动制孔机器人基准找正方法
CN111037542B (zh) 一种逆动力学控制机器人直线加工的轨迹误差补偿方法
US10589394B2 (en) Method and arrangement of introducing boreholes into a surface of a workpiece mounted in a stationary manner using a boring tool attached to an articulated-arm robot
CN102470529B (zh) 用于测量系统的校准方法
FI123306B (fi) Robottityökalujärjestelmä, sekä sen ohjausmenetelmä, tietokoneohjelma ja ohjelmistotuote
CN103365246B (zh) 用于数控机床的误差校正的装置
US20080319557A1 (en) Program-Controlled Process
US20250205895A1 (en) Robot guidance using multiple frames
CN109290758A (zh) 一种基于激光准直仪检测的位置对中方法
US20250180350A1 (en) Coordinate positioning machine
KR102091917B1 (ko) 기어 기구의 조립 장치 및 조립 방법
CN103878478A (zh) 一种三维激光加工工件定位测量装置及其方法
CN210819622U (zh) 移动操作机器人大尺度空间高精度在线标定系统
CN115179323B (zh) 基于远心视觉约束的机器末位姿测量装置及精度提升方法
CN104236459B (zh) 六点定位式相对位姿检测系统
US12226867B2 (en) Method for setting more precisely a position and/or orientation of a device head
JPH09222913A (ja) ロボットの教示位置補正装置
CN112809037B (zh) 一种用于在曲面结构上钻孔的方法
KR102582430B1 (ko) 레이저 트래커 피드백을 이용한 로봇 제어 방법 및 장치
US20220365216A1 (en) Method for Setting More Precisely a Position and/or Orientation of a Device Head
Loser et al. Real-time robot positioning based on measurement feedback control
Dzubba et al. Simple Estimation Algorithm for Laser

Legal Events

Date Code Title Description
NUG Patent has lapsed