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WO2014042668A3 - Automatic and manual robot work finder calibration systems and methods - Google Patents

Automatic and manual robot work finder calibration systems and methods Download PDF

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Publication number
WO2014042668A3
WO2014042668A3 PCT/US2013/000146 US2013000146W WO2014042668A3 WO 2014042668 A3 WO2014042668 A3 WO 2014042668A3 US 2013000146 W US2013000146 W US 2013000146W WO 2014042668 A3 WO2014042668 A3 WO 2014042668A3
Authority
WO
WIPO (PCT)
Prior art keywords
robotic
automatic
manual
frame
tool
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/US2013/000146
Other languages
French (fr)
Other versions
WO2014042668A2 (en
Inventor
Matthew E. TROMPETER
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to US14/098,977 priority Critical patent/US9114534B2/en
Publication of WO2014042668A2 publication Critical patent/WO2014042668A2/en
Anticipated expiration legal-status Critical
Publication of WO2014042668A3 publication Critical patent/WO2014042668A3/en
Priority to US14/710,933 priority patent/US20150306769A1/en
Priority to US14/818,205 priority patent/US9713869B2/en
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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37415—By cutting light beam
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The manual and automatic robot work finder calibration systems combine a visual datum reference tool with either a manual or automatic tool finder. Two different visual datum reference tools can be used with either an automatic or manual work finder. This technology enables the user to visually see a robotic reference frame, a frame in space that is relative to an industrial robot that is otherwise abstract. Enabling the user to visually see the robotic reference frame on the shop floor enables adjustment of the robotic frame to the shop floor and correction of a robotic path or off-line program to enhance accuracy. Two laser beams are emitted and intersect at a tool center point. The tool center point and the laser beams are then used to define a robotic reference frame. The technology improves cost and time factors in applications where absolutely accurate robots are not really necessary.
PCT/US2013/000146 2011-03-14 2013-06-10 Automatic and manual robot work finder calibration systems and methods Ceased WO2014042668A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US14/098,977 US9114534B2 (en) 2013-01-14 2013-12-06 Robot calibration systems
US14/710,933 US20150306769A1 (en) 2011-03-14 2015-05-13 Calibration for robotic systems
US14/818,205 US9713869B2 (en) 2012-03-07 2015-08-04 Calibration of robot work paths

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US201261689643P 2012-06-11 2012-06-11
US61/689,643 2012-06-11
US201361848482P 2013-01-04 2013-01-04
US61/848,482 2013-01-04
US201361849261P 2013-01-23 2013-01-23
US61/849,261 2013-01-23

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
US13/385,797 Continuation-In-Part US9061421B2 (en) 2011-03-14 2012-03-07 Robotic work object cell calibration method

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US13/912,501 Continuation-In-Part US20140365006A1 (en) 2013-01-14 2013-06-07 Visual Datum Reference Tool
US201414155646A Continuation-In-Part 2011-03-14 2014-01-15

Publications (2)

Publication Number Publication Date
WO2014042668A2 WO2014042668A2 (en) 2014-03-20
WO2014042668A3 true WO2014042668A3 (en) 2015-01-15

Family

ID=50278826

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2013/000146 Ceased WO2014042668A2 (en) 2011-03-14 2013-06-10 Automatic and manual robot work finder calibration systems and methods

Country Status (1)

Country Link
WO (1) WO2014042668A2 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10247545B2 (en) 2015-02-13 2019-04-02 Think Surgical, Inc. Laser gauge for robotic calibration and monitoring
GB201509341D0 (en) 2015-05-29 2015-07-15 Cambridge Medical Robotics Ltd Characterising robot environments
CN113001535B (en) 2019-12-18 2022-11-15 财团法人工业技术研究院 System and method for automatic calibration of robot workpiece coordinate system
CN112947483A (en) * 2021-03-31 2021-06-11 国网上海市电力公司 Tracked motion system of tracked robot
CN115026843B (en) * 2022-08-11 2022-12-13 佛山智能装备技术研究院 Automatic TCP calibration and deviation correction method based on cross laser sensor
CN119304346B (en) * 2024-12-18 2025-04-04 浙江摩克激光智能装备有限公司 Three-dimensional curved surface workpiece calibration method and device of laser processing robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999010136A1 (en) * 1997-08-28 1999-03-04 Proteus Corporation Laser calibration of robotics systems
US20090157226A1 (en) * 2004-11-19 2009-06-18 Dynalog ,Inc. Robot-cell calibration
US7627197B2 (en) * 2003-04-07 2009-12-01 Honda Motor Co., Ltd. Position measurement method, an apparatus, a computer program and a method for generating calibration information
US20110066393A1 (en) * 2009-09-16 2011-03-17 Kuka Roboter Gmbh Calibration Of A Manipulator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999010136A1 (en) * 1997-08-28 1999-03-04 Proteus Corporation Laser calibration of robotics systems
US7627197B2 (en) * 2003-04-07 2009-12-01 Honda Motor Co., Ltd. Position measurement method, an apparatus, a computer program and a method for generating calibration information
US20090157226A1 (en) * 2004-11-19 2009-06-18 Dynalog ,Inc. Robot-cell calibration
US20110066393A1 (en) * 2009-09-16 2011-03-17 Kuka Roboter Gmbh Calibration Of A Manipulator

Also Published As

Publication number Publication date
WO2014042668A2 (en) 2014-03-20

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