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WO2011110279A1 - Procédé pour étalonner un robot - Google Patents

Procédé pour étalonner un robot Download PDF

Info

Publication number
WO2011110279A1
WO2011110279A1 PCT/EP2011/000726 EP2011000726W WO2011110279A1 WO 2011110279 A1 WO2011110279 A1 WO 2011110279A1 EP 2011000726 W EP2011000726 W EP 2011000726W WO 2011110279 A1 WO2011110279 A1 WO 2011110279A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
errors
tcp
operating program
ideal
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.)
Ceased
Application number
PCT/EP2011/000726
Other languages
German (de)
English (en)
Inventor
Franz Ehrenleitner
Carsten Meyer
Robin Kaufmann
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.)
Eisenmann SE
Original Assignee
Eisenmann SE
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 Eisenmann SE filed Critical Eisenmann SE
Publication of WO2011110279A1 publication Critical patent/WO2011110279A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • B25J9/1679—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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration
    • 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
    • G05B2219/36416—Adapt teached position as function of deviation 3-D, 2-D position of end effector, tool
    • 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
    • G05B2219/39191—Compensation for errors in mechanical components
    • 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
    • G05B2219/40387—Modify without repeating teaching operation

Definitions

  • the invention relates to a method for calibrating a robot which is equipped by the manufacturer with an operating program under whose regime its "Tool Center Point” (TCP) is guided on a trajectory defined by a plurality of interpolation points.
  • TCP Tool Center Point
  • Direct programming also called “on-line programming” mainly works according to teach-in procedures.
  • a keyboard for example, a handheld programmer
  • the industrial robot in a Cartesian coordinate system or axis-specific approached to the desired positions and the results are stored in the controller.
  • the advantages of this direct programming method are, ⁇ that the industrial robot by means of the workpiece can be positioned and that additional statements can be entered directly.
  • the disadvantage is that the industrial robot fails during program creation for production.
  • the off-line simulation systems allow the direct
  • Object of the present invention is to provide a method of the type mentioned in such a way that it can be easily and basically performed without interference with the operating program provided by the manufacturer.
  • Substitute points (p.) are entered in the operating program; the vectors which connect the real vertices (S ⁇ ) to the ideal vertices (S ⁇ ) beyond which the ideal vertices (S ⁇ ) are computationally doubled, whereby the coordinates of replacement vertices (S e ) are obtained, - for execution the movement of the TCP under operating conditions, the coordinates of spare bases (S e) are inputted to the operation provided by the manufacturer ⁇ program.
  • the entire working space which can be reached by the robot's TCP is to be calibrated in a certain way in advance. Rather, the calibration is done in view of a very specific Trajectory defined by concrete bases for a single application case. Taking into account the errors of the robot, it is determined which interpolation points would be approached by the robot if, in fact, the coordinates of the desired interpolation points were entered unchanged in the operating program.
  • substitute interpolation points S e can be determined, in the input of which in the operating program of the robot the ideal interpolation points are achieved despite the existing robot errors become.
  • the method according to the invention has the great advantage that the robot can be operated by the machine-operator in the manner familiar to him and that, in particular, an intervention in the operating program of the robot provided by the manufacturer is not required.
  • an auxiliary program preceding the operating program of the robot can be set up, in which case it is sufficient to enter only the interpolation points desired in the individual application.
  • This utility then automatically calculates the replacement bases and forwards them to the operating program of the computer.
  • model-specific errors and the individual errors of the robot are determined separately and taken into account mathematically.
  • This has the advantage that the calibration of several robots, which belong to the same series and all have the same type-specific error, is simplified: Since the model-specific errors - separately - already known, it is sufficient for the other robots of the same series only still the individual errors to be determined and included.
  • Measuring points must be measured.
  • FIG. 1 shows a flowchart of the calibration method according to the invention
  • Measuring poses which a robot arm can take to measure errors of the robot to be calibrated
  • Figure 4 shows the model of a faulty robot. The inventive and subsequently with reference to FIG.
  • the robot may in particular belong to a specific series, as is generally the case.
  • the robot will not be in the entire workspace
  • Step 1 defines a plurality of specific, "ideal" support points, which define a trajectory to be traversed by the TCP.
  • the robot is regularly provided by the manufacturer with an operating program which interpolates a trajectory between the interpolation points and generates control signals which guide the TCP along this calculated trajectory.
  • the first group of mistakes includes all those who are determined by the series, so all
  • the other group of errors concern individual errors of the individual robot, ie those errors in which
  • Position represented by solid lines represents the "ideal" robot as laid down in the manufacturer's model of the robot. Ideally, the TCP should reach the base S ⁇ at the end of the robot arm. In fact, the bill results
  • the values of the base S ⁇ in the program prepared by the manufacturer ⁇ set the base S is achieved.
  • the replacement support points S g are determined in a corresponding manner for all interpolation points S 1 which were determined in method step 1.
  • the next step is the determination of the individual errors of the respective robot to be calibrated. How this can be measured in detail, is in principle irrelevant in carrying out the OF INVENTION ⁇ dung. However, it is desirable that the number of measurements and the computationally processed quantities be kept as low as possible. Measurements and tests have shown that 80 to 90 percent of the axis position errors alone contribute to the individual errors of the robot, while arm length and angle errors contribute 5 to 10 percent of the total error. Therefore, it is generally possible to measure only the errors mentioned in step 4 in preparation for the mathematical rule ⁇ step. 5
  • the robot is the manufacturer of the
  • the robot manufacturer set zero marks, brought to zero. Then the individual deviations of the robot are determined by single-axis measurement. This happens because the axes of the robot are moved individually and from three measuring points, which lie on a circular arc around the real axis, the respective real axis position is determined.
  • the measuring techniques used here are not of interest in the present context. In order to achieve sufficient accuracy, the three measuring points measured for each axis lie at an angular distance of 60 ° from each other.
  • FIG. 2 shows the measurement of the first axis of the robot arm.
  • the measuring pose is chosen by others
  • FIG. 3 shows how the axis 3 of the robot can be measured. Even with the measurement pose shown here, it is apparent that in the presence of others
  • the individual measuring points do not match errors as errors of the position of the axis 3 with the desired ideal measurement punk ⁇ th; the actual measured points but remain substantially lie on the desired circular path so that the detected position of the axis 3 with the tatsumble ⁇ union position of the axis 3 corresponds largely.

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé utilisé pour étalonner un robot, conçu par le constructeur avec un programme de fonctionnement, programme de fonctionnement sous la conduite duquel son point d'outil (PDO) est guidé selon une trajectoire définie par une pluralité de points de reprise. A cet effet, les points de reprise pertinents (Si) pour une application concrète sont déterminés. Avant ou après, les erreurs du robot sont déterminées par des mesures. Les points de reprise réels (Sr) qui sont effectivement régis par le PDO lorsque les points de reprise idéaux (Si) sont intégrés au programme de fonctionnement. Les vecteurs (V1, V2) qui relient les points de reprise réels (Sr) aux points de reprise idéaux (Si) sont doublés par voie informatique au-delà des points de reprise idéaux (Si), ce qui permet d'obtenir les coordonnées de points de reprise de rechange (Se). Si les coordonnées de ces points de reprise de rechange (Se) sont intégrés au programme de fonctionnement, le PDO parcourt la trajectoire idéale voulue, en dépit des erreurs présentes du robot.
PCT/EP2011/000726 2010-03-10 2011-02-16 Procédé pour étalonner un robot Ceased WO2011110279A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201010010920 DE102010010920A1 (de) 2010-03-10 2010-03-10 Verfahren zum Kalibrieren eines Roboters
DE102010010920.7 2010-03-10

Publications (1)

Publication Number Publication Date
WO2011110279A1 true WO2011110279A1 (fr) 2011-09-15

Family

ID=44009729

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/000726 Ceased WO2011110279A1 (fr) 2010-03-10 2011-02-16 Procédé pour étalonner un robot

Country Status (2)

Country Link
DE (1) DE102010010920A1 (fr)
WO (1) WO2011110279A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109877828A (zh) * 2019-01-18 2019-06-14 广东拓斯达科技股份有限公司 机器点位调试方法、装置、计算机设备和存储介质

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016013891A1 (de) * 2016-11-21 2018-05-24 Kuka Roboter Gmbh Vermessen einer Bewegungsachse eines Roboters
DE102019205089B3 (de) 2019-04-09 2020-08-06 Kuka Deutschland Gmbh Steuern eines mehrachsigen Roboters
EP4112239A1 (fr) * 2021-06-30 2023-01-04 Siemens Aktiengesellschaft Étalonnage automatisé d'une machine d'usinage

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4698572A (en) * 1986-04-04 1987-10-06 Westinghouse Electric Corp. Kinematic parameter identification for robotic manipulators
US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
JPH09128026A (ja) * 1995-11-06 1997-05-16 Matsushita Electric Ind Co Ltd ロボット動作プログラム変換方式とその実行装置
WO2001076830A1 (fr) * 2000-04-10 2001-10-18 Abb Ab Correction de trajet pour robot industriel
EP1189121A2 (fr) * 2000-09-18 2002-03-20 Siemens Aktiengesellschaft Méthode de compensation des erreurs de position et d'orientation statiques

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EP0353585A3 (fr) * 1988-08-04 1992-04-22 Siemens Aktiengesellschaft Méthode de correction de contour et de position d'un outil de robot
US5161101A (en) * 1989-04-28 1992-11-03 Nissan Motor Co., Ltd. Method of forming automatic machine operation program
JPH03251378A (ja) * 1990-02-28 1991-11-08 Fanuc Ltd ロボットのキャリブレーション方式
DE4421699A1 (de) * 1994-06-21 1996-01-04 Hartmut Prof Janocha Verfahren zur sensorgestützten Anpassung oder Generierung von Posen zur Steuerung von Handhabungsgeräten zur Verbesserung der absoluten Posegenauigkeit dieser Handhabungsgeräte in Verbindung mit Off-line-Programmiersystemen und zur Übertragung von Roboterprogrammen auf verschiedene Exemplare der Handhabungsgeräte mit gleicher Aufgabe unter Reduzierung der Auswirkungen exemplarspezifischer Positionierunterschiede sowie Unterschiede im Aufbau der den einzelnen Handhabungsgeräten zugehörigen Arbeitszellen
DE19960933C1 (de) * 1999-12-17 2001-01-25 Audi Ag Verfahren zur Kalibrierung eines programmgesteuerten Roboters bezüglich eines in einer Bearbeitungsvorrichtung aufgenommenen Werkstücks
DE10124044B4 (de) * 2001-05-16 2011-12-01 Kuka Systems Gmbh Verfahren zum Kalibrieren eines Bahnprogramms
DE10150225A1 (de) * 2001-10-12 2003-04-17 Tecmedic Gmbh Verfahren zur Verringerung von Fehlern bei der Positionierung eines Roboters gegenüber einem Werkstück

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4763276A (en) * 1986-03-21 1988-08-09 Actel Partnership Methods for refining original robot command signals
US4698572A (en) * 1986-04-04 1987-10-06 Westinghouse Electric Corp. Kinematic parameter identification for robotic manipulators
JPH09128026A (ja) * 1995-11-06 1997-05-16 Matsushita Electric Ind Co Ltd ロボット動作プログラム変換方式とその実行装置
WO2001076830A1 (fr) * 2000-04-10 2001-10-18 Abb Ab Correction de trajet pour robot industriel
EP1189121A2 (fr) * 2000-09-18 2002-03-20 Siemens Aktiengesellschaft Méthode de compensation des erreurs de position et d'orientation statiques

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109877828A (zh) * 2019-01-18 2019-06-14 广东拓斯达科技股份有限公司 机器点位调试方法、装置、计算机设备和存储介质

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