Global Patent Index - EP 1075361 A1

EP 1075361 A1 2001-02-14 - METHOD FOR CALIBRATING A PARALLEL MANIPULATOR

Title (en)

METHOD FOR CALIBRATING A PARALLEL MANIPULATOR

Title (de)

VERFAHREN ZUR KALIBRIERUNG EINES PARALLELMANIPULATORS

Title (fr)

PROCEDE POUR ETALONNER UN MANIPULATEUR PARALLELE

Publication

EP 1075361 A1 (DE)

Application

EP 99947028 A

Priority

  • DE 9901088 W
  • DE 19818635 A

Abstract (en)

[origin: DE19818635A1] The ends of bars having variable lengths (actuators 3) or rods (8') having a constant length are attached to a mobile platform (2) by means of joints (5). The other ends of the bars (3, 8') are connected to a platform (1) by means of joints. Said platform is moved by actuation of actuators (3, 3') characterized by a counter index (i) to different positions characterized by an additional counter index (j). The parameters directly and/or indirectly characterizing the position and orientation of the nonmobile platform (1) in relation to the mobile platform are measured. The actual hinge point coordinates are calculated on the basis of a system of equations according to the number and type of parameters to be measured. Instead of measuring all parameters fully characterizing the position and orientation of the mobile platform, only those parameters characterizing the position and orientation of the mobile platform are measured that can be determined with little complications from a metrological point of view and that make it possible to automate the calibration process.

IPC 1-7 (main, further and additional classification)

B25J 9/16

IPC 8 full level (invention and additional information)

B25J 9/16 (2006.01); B23Q 1/54 (2006.01); B23Q 5/26 (2006.01); B25J 11/00 (2006.01); B25J 17/02 (2006.01)

CPC (invention and additional information)

B25J 17/0266 (2013.01); B23Q 1/5462 (2013.01); B25J 9/0078 (2013.01)

Citation (search report)

See references of WO 9955497A1

Designated contracting state (EPC)

AT BE CH DE ES FR GB IT LI NL SE

EPO simple patent family

DE 19818635 A1 19991104; DE 19818635 C2 20000323; EP 1075361 A1 20010214; JP 2002512898 A 20020508; WO 9955497 A1 19991104

INPADOC legal status


2003-10-15 [18D] DEEMED TO BE WITHDRAWN

- Ref Legal Event Code: 18D

- Effective date: 20030415

2003-01-15 [17Q] FIRST EXAMINATION REPORT

- Ref Legal Event Code: 17Q

- Effective date: 20021202

2001-02-14 [17P] REQUEST FOR EXAMINATION FILED

- Ref Legal Event Code: 17P

- Effective date: 20001023

2001-02-14 [AK] DESIGNATED CONTRACTING STATES:

- Ref Legal Event Code: AK

- Designated State(s): AT BE CH DE ES FR GB IT LI NL SE