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WO2004026539A3 - Method for measuring the position of robot-guided workpieces and measuring device for the same - Google Patents

Method for measuring the position of robot-guided workpieces and measuring device for the same Download PDF

Info

Publication number
WO2004026539A3
WO2004026539A3 PCT/DE2003/002489 DE0302489W WO2004026539A3 WO 2004026539 A3 WO2004026539 A3 WO 2004026539A3 DE 0302489 W DE0302489 W DE 0302489W WO 2004026539 A3 WO2004026539 A3 WO 2004026539A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
tool
measuring
sensors
tcp
Prior art date
Application number
PCT/DE2003/002489
Other languages
German (de)
French (fr)
Other versions
WO2004026539A2 (en
Inventor
Thomas Pagel
Johannes Kemp
Original Assignee
Thomas Pagel
Johannes Kemp
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 Thomas Pagel, Johannes Kemp filed Critical Thomas Pagel
Priority to EP03797160A priority Critical patent/EP1536927A2/en
Priority to AU2003264238A priority patent/AU2003264238A1/en
Publication of WO2004026539A2 publication Critical patent/WO2004026539A2/en
Publication of WO2004026539A3 publication Critical patent/WO2004026539A3/en

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • 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
    • G05B2219/39533—Measure grasping posture and pressure distribution

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optics & Photonics (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

A method for measuring the position of robot-guided workpieces (5), with relation to a tool (4), fixed with relation to the plinth (2) of an industrial robot (1), by means of optical sensors (Sj), which are fixed with relation to the tool (5), whereby the position of the industrial robot (1) is described with robot position coordinates (R) and tool centre point (TCP) coordinates, comprises the following steps: fixing the TCP coordinate system relative to the position coordinates of the tool (4), whereby the position coordinates for the tool (4) form the tool centre point (TCP) for the industrial robot (1), supply of workpiece base points (By) to the sensors (Sj) and determination of the position of the workpiece (5), by transformation of the robot position coordinates (R) into the TCP coordinate system and calculation of the position from the transformed robot position coordinates (R) and the known position of the sensors (Sj) relative to each other and/or the known position of the sensors (Sj) relative to the tool centre point.
PCT/DE2003/002489 2002-09-14 2003-07-24 Method for measuring the position of robot-guided workpieces and measuring device for the same WO2004026539A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP03797160A EP1536927A2 (en) 2002-09-14 2003-07-24 Method for measuring the position of robot-guided workpieces and measuring device for the same
AU2003264238A AU2003264238A1 (en) 2002-09-14 2003-07-24 Method for measuring the position of robot-guided workpieces and measuring device for the same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10242769.0 2002-09-14
DE2002142769 DE10242769C1 (en) 2002-09-14 2002-09-14 Position measuring method for robot-guided workpiece using optical sensors in known positions relative to fixed tool

Publications (2)

Publication Number Publication Date
WO2004026539A2 WO2004026539A2 (en) 2004-04-01
WO2004026539A3 true WO2004026539A3 (en) 2004-09-23

Family

ID=29557888

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2003/002489 WO2004026539A2 (en) 2002-09-14 2003-07-24 Method for measuring the position of robot-guided workpieces and measuring device for the same

Country Status (4)

Country Link
EP (1) EP1536927A2 (en)
AU (1) AU2003264238A1 (en)
DE (1) DE10242769C1 (en)
WO (1) WO2004026539A2 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004044590A1 (en) * 2004-09-13 2006-03-30 Behr Gmbh & Co. Kg Tool e.g. welding torch, center point measuring and setting device for use in machining center, has five sensors in the form of measuring sensing devices that determine tool center point, and protection device for one sensing device
DE102006043810A1 (en) * 2006-09-13 2008-03-27 Hauni Maschinenbau Ag Determining a bobbin center in a bobbin handling device
DE102007056773B4 (en) * 2007-11-23 2015-08-13 Kuka Roboter Gmbh Method for automatically determining a virtual operating point
GB201009219D0 (en) 2010-06-02 2010-07-21 Airbus Operations Ltd Aircraft component manufacturing method and apparatus

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4402053A (en) * 1980-09-25 1983-08-30 Board Of Regents For Education For The State Of Rhode Island Estimating workpiece pose using the feature points method
US4727471A (en) * 1985-08-29 1988-02-23 The Board Of Governors For Higher Education, State Of Rhode Island And Providence Miniature lightweight digital camera for robotic vision system applications
EP0577437A1 (en) * 1992-07-03 1994-01-05 Daihen Corporation Control apparatus for industrial robot
DE19507561A1 (en) * 1994-03-09 1995-09-14 Siemens Ag Position transformation method for numerically controlled machines
US5939611A (en) * 1998-02-24 1999-08-17 Data I/O Corporation Method and system for calibrating a device handler
DE10002230A1 (en) * 2000-01-20 2001-07-26 Msc Mes Sensor Und Computertec Adaptive robot guidance method, uses successive measurements with master piece and actual component for determining offset vectors used for adaption of robot movement program
US20010040683A1 (en) * 2000-05-11 2001-11-15 Karsten Hofman Apparatus for process for measuring the thickness and out-of-roundness of elongate workpieces
US6317953B1 (en) * 1981-05-11 2001-11-20 Lmi-Diffracto Vision target based assembly

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10016963C2 (en) * 2000-04-06 2002-02-14 Vmt Vision Machine Technic Gmb Method for determining the position of a workpiece in 3D space

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4402053A (en) * 1980-09-25 1983-08-30 Board Of Regents For Education For The State Of Rhode Island Estimating workpiece pose using the feature points method
US6317953B1 (en) * 1981-05-11 2001-11-20 Lmi-Diffracto Vision target based assembly
US4727471A (en) * 1985-08-29 1988-02-23 The Board Of Governors For Higher Education, State Of Rhode Island And Providence Miniature lightweight digital camera for robotic vision system applications
EP0577437A1 (en) * 1992-07-03 1994-01-05 Daihen Corporation Control apparatus for industrial robot
DE19507561A1 (en) * 1994-03-09 1995-09-14 Siemens Ag Position transformation method for numerically controlled machines
US5939611A (en) * 1998-02-24 1999-08-17 Data I/O Corporation Method and system for calibrating a device handler
DE10002230A1 (en) * 2000-01-20 2001-07-26 Msc Mes Sensor Und Computertec Adaptive robot guidance method, uses successive measurements with master piece and actual component for determining offset vectors used for adaption of robot movement program
US20010040683A1 (en) * 2000-05-11 2001-11-15 Karsten Hofman Apparatus for process for measuring the thickness and out-of-roundness of elongate workpieces

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
NAKAZAWA K ED - INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS: "COMPENSATION OF ROBOT HAND POSITION USING VISION SENSOR", PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS,CONTROL AND INSTRUMENTATION. (IECON). BOLOGNA, SEPT. 5 - 9, 1994. ROBOTICS, VISION AND SENSORS, FACTORY AUTOMATION, EMERGING TECHNOLOGIES, NEW YORK, IEEE, US, vol. VOL. 2 CONF. 20, 5 September 1994 (1994-09-05), pages 847 - 851, XP000525431, ISBN: 0-7803-1329-1 *

Also Published As

Publication number Publication date
DE10242769C1 (en) 2003-12-18
WO2004026539A2 (en) 2004-04-01
EP1536927A2 (en) 2005-06-08
AU2003264238A1 (en) 2004-04-08

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