EP 2969401 A1 20160120 - METHOD AND APPARATUS FOR ONLINE CALIBRATION AND FOR GUIDING A MULTIAXIS JOINTED-ARM ROBOT
Title (en)
METHOD AND APPARATUS FOR ONLINE CALIBRATION AND FOR GUIDING A MULTIAXIS JOINTED-ARM ROBOT
Title (de)
VERFAHREN UND VORRICHTUNG ZUR ONLINE KALIBRIERUNG UND ZUM FÜHREN EINES MEHRACHSIGEN GELENKARMROBOTERS
Title (fr)
PROCÉDÉ ET DISPOSITIF DE GUIDAGE D'UN ROBOT À PLUSIEURS AXES SOUS FORME DE BRAS ARTICULÉ
Publication
Application
Priority
- DE 202013101050 U 20130311
- EP 2014054562 W 20140310
Abstract (en)
[origin: WO2014139938A1] The invention relates to a method or an apparatus for online calibration and for guiding a multiaxis jointed-arm robot (2) that, with an end effector (4), travels along a preprogrammed path stored in its robot controller (5). The jointed-arm robot (2) moves the end effector (4) along the programmed path during a reference journey with an experimentally performed process and in so doing carries along a test sample from an external guidance system (8). During the robot movement, the position and orientation of the test sample (9) are recorded by an external, in particular optical measuring device and a guidance computer (14) of the guidance system (8). In this case, position, orientation and path errors are detected online and correction values are ascertained and output to the robot controller (5). The robot controller (5) uses the correction values to correct the programmed path as appropriate. The external guidance system (8) and/or the robot controller (5) store the correction values, and in later operation the thus corrected programmed path is travelled along possibly without an external guidance system (8).
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: EP)
B25J 9/1638 (2013.01); B25J 9/1641 (2013.01); B25J 9/1692 (2013.01); G05B 2219/36415 (2013.01); G05B 2219/39024 (2013.01); G05B 2219/39056 (2013.01)
Citation (search report)
See references of WO 2014139938A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
DE 202013101050 U1 20140805; EP 2969401 A1 20160120; WO 2014139938 A1 20140918
DOCDB simple family (application)
DE 202013101050 U 20130311; EP 14715852 A 20140310; EP 2014054562 W 20140310