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KR930016204A - Calibration system for robot arm length correction by temperature change - Google Patents

Calibration system for robot arm length correction by temperature change Download PDF

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Publication number
KR930016204A
KR930016204A KR1019920000424A KR920000424A KR930016204A KR 930016204 A KR930016204 A KR 930016204A KR 1019920000424 A KR1019920000424 A KR 1019920000424A KR 920000424 A KR920000424 A KR 920000424A KR 930016204 A KR930016204 A KR 930016204A
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KR
South Korea
Prior art keywords
arm length
robot arm
robot
calibration system
temperature change
Prior art date
Application number
KR1019920000424A
Other languages
Korean (ko)
Other versions
KR940006570B1 (en
Inventor
김문상
Original Assignee
박원희
한국과학기술연구원
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Publication date
Application filed by 박원희, 한국과학기술연구원 filed Critical 박원희
Priority to KR1019920000424A priority Critical patent/KR940006570B1/en
Priority to JP05005142A priority patent/JP3096875B2/en
Publication of KR930016204A publication Critical patent/KR930016204A/en
Application granted granted Critical
Publication of KR940006570B1 publication Critical patent/KR940006570B1/en
Priority to US08/281,233 priority patent/US5400638A/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

본 발명은 주위의 온도변화에 의해 발생되는 로보트의 팔길이 변화량을 비접촉식 센서로 측정하여 보정하기위한 온도변화에 의한 로보트 팔길이 보정용 캘리브레이션 시스템에 관한 것이다. 본 발명의 캘리브레이션 시스템은 로보트의 핸드에 장착되는 카메라와 LDS(laser displacdment sensor)의 결합으로 이루어진 비접촉식 센서를 이용하여 캘리브레이션 지그를 교시된 포인트에서 상대측정함에 있어 카메라는 캐리브레이션 측정포인트의 중심을LDS는 로보트 핸드와 측정포인트를 포함하는 캘리브레이션 지그 평면 사이의 거리를 각각 측정하여 3차원 상대오차를 감지하여 주변 온도변화에 의해 발생된 로보트 팔길이 변화량을 계산해 내게 된다.The present invention relates to a calibration system for robot arm length correction due to temperature changes for measuring and correcting the arm length variation of the robot caused by ambient temperature changes with a non-contact sensor. The calibration system of the present invention uses a non-contact sensor made of a combination of a camera mounted on a robot's hand and a laser displacdment sensor (LDS) to perform relative measurement of a calibration jig at a taught point. The distance between the robot hand and the calibration jig plane including the measuring point is respectively measured to detect the three-dimensional relative error and calculate the robot arm length variation caused by the ambient temperature change.

Description

온도변화에 의한 로보트 팔길이 보정용 캘리브레이션 시스템 (calibration system)Calibration system for robot arm length correction by temperature change

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

제1도는 본 발명은 캘리브레이션 시스템의 전체구조를 보인 저면도, 제2도는 제1도의 센서부 구조 및 센싱상태를 보인 확대도, 제3도는 본 발명 캘리브레이션 시스템의 캘리브레이션 지그에 대한 사시도, 제4도는 본 발명 캘리브레이션 시스템의 측정원리를 나타낸 설명도.1 is a bottom view showing the overall structure of the calibration system, 2 is an enlarged view showing the structure and the sensing state of the sensor of FIG. 1, 3 is a perspective view of a calibration jig of the calibration system of the present invention, 4 is Explanatory drawing showing the measuring principle of the calibration system of the present invention.

Claims (4)

로보트(1)의 핸드(2)에 장착되는 카메라(3a)와 LDS(3b)의 조합으로 이루어진 비접촉식 센서(3)를 이용하여 온도변화에 둔감한 캘리브레이션 지그(5)를 교시된 측정 프랜트(5a')에서 상대측정하여 초기에 입력된 값과 비교함으로써 주변온도 변화에 의해 발생된 로보트 팔길이의 변화량을 계산해냄을 특징으로 하는 온도변화에 의한 로보트 팔길이 캘리브레이션 시스템.Measurement plant 5a taught a calibration jig 5 insensitive to temperature change using a non-contact sensor 3 made of a combination of a camera 3a and an LDS 3b mounted on the hand 2 of the robot 1. Robot arm length calibration system according to temperature change, characterized in that the relative measurement at ') is compared with the initial input value to calculate the change in the robot arm length caused by the ambient temperature change. 제1항에 있어서, 캘리브레이션 지그(5)는 크고 작은 두개의 직육면체가 2단으로 결합된 형태로서 각평면(5a)상에 검은원으로 이루어진 측정용포인트(5a')가 표시되어 있는 것을 특징으로 하는 온도 변화에 의한 로보토 팔길이 보정용 캘리브레이션 시스템.The calibration jig (5) is a form in which two large and small rectangular parallelepipeds are joined in two stages, and a measuring point (5a ') composed of black circles is displayed on each plane (5a). Calibration system for robot arm length correction by temperature change to make. 제1항에 있어서, 비접촉식 센서(3)에서 카메라(3a)는 캘리브레이션 지그(5a')의 측정포인트(5a')의 중심을 LDS(3b)는 핸드(2)로부터 측정포인트(5a')가 표시된 평면(5a)까지의 거리를 각각 측정하여 3차원 상대오차를 감지해 냄을 특징으로 하는 온도변화에 의한 로보트 팔길이 보정용 캘리브레이션 시스템.The method of claim 1, wherein in the non-contact sensor 3, the camera 3a is centered on the measuring point 5a 'of the calibration jig 5a', and the LDS 3b is located from the hand 2 to the measuring point 5a '. A calibration system for robot arm length correction due to temperature changes, characterized in that it measures each distance to the displayed plane (5a) and detects three-dimensional relative errors. 제1항에 있어서, 로보트 팔길이 변화량 계산은 로보트(1)에 의해 교시된 포인트에서 초기 입력값과 당해 시험에서의 측정값과의 오차를 입력으로 하여 최소자승법에 의하여 이루어짐을 특징으로 하는 온도변화에 의한 로보트 팔길이 보정용 캘리브레이션 시스템.The method of claim 1, wherein the calculation of the robot arm length change is performed by the least square method by inputting an error between the initial input value and the measured value in the test at the point taught by the robot (1). Calibration system for robot arm length correction by ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019920000424A 1992-01-14 1992-01-14 Calibration system for robot arm length correction by temperature change KR940006570B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1019920000424A KR940006570B1 (en) 1992-01-14 1992-01-14 Calibration system for robot arm length correction by temperature change
JP05005142A JP3096875B2 (en) 1992-01-14 1993-01-14 Robot arm length correction device
US08/281,233 US5400638A (en) 1992-01-14 1994-07-27 Calibration system for compensation of arm length variation of an industrial robot due to peripheral temperature change

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019920000424A KR940006570B1 (en) 1992-01-14 1992-01-14 Calibration system for robot arm length correction by temperature change

Publications (2)

Publication Number Publication Date
KR930016204A true KR930016204A (en) 1993-08-26
KR940006570B1 KR940006570B1 (en) 1994-07-22

Family

ID=19327848

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019920000424A KR940006570B1 (en) 1992-01-14 1992-01-14 Calibration system for robot arm length correction by temperature change

Country Status (2)

Country Link
JP (1) JP3096875B2 (en)
KR (1) KR940006570B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030008575A (en) * 2001-07-19 2003-01-29 (주)다사테크 Method for compensating an error in a jointed arm robot using a jig

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0596043A (en) * 1991-10-09 1993-04-20 Ace Denken:Kk Storage medal detecting device in slot machine island
JP3515657B2 (en) * 1995-12-26 2004-04-05 株式会社リコー Three-dimensional position detecting device and transfer robot using the same
KR19980084240A (en) * 1997-05-22 1998-12-05 윤종용 Collision Detection Device
DE19821873C2 (en) * 1998-05-15 2000-07-13 Inst Werkzeugmaschinen Und Bet Process for reducing the influence of temperature changes on industrial robots
JP4413291B2 (en) * 1998-08-18 2010-02-10 株式会社明電舎 Bin picking device with position data calibration function
JP6335460B2 (en) * 2013-09-26 2018-05-30 キヤノン株式会社 Robot system control apparatus, command value generation method, and robot system control method
CN105806309B (en) * 2016-04-19 2019-05-24 上海交通大学 Robot Zero positioning System and method for based on laser triangulation
CN111791257B (en) * 2020-08-18 2021-09-28 目高智能设备(江门)有限公司 Automatic batch feeding system based on manipulator

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030008575A (en) * 2001-07-19 2003-01-29 (주)다사테크 Method for compensating an error in a jointed arm robot using a jig

Also Published As

Publication number Publication date
JP3096875B2 (en) 2000-10-10
JPH05261686A (en) 1993-10-12
KR940006570B1 (en) 1994-07-22

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