CA2732312A1 - Systeme et procede de commande precise en temps reel de position et d'orientation d'outillage - Google Patents

Systeme et procede de commande precise en temps reel de position et d'orientation d'outillage Download PDF

Info

Publication number
CA2732312A1
CA2732312A1 CA2732312A CA2732312A CA2732312A1 CA 2732312 A1 CA2732312 A1 CA 2732312A1 CA 2732312 A CA2732312 A CA 2732312A CA 2732312 A CA2732312 A CA 2732312A CA 2732312 A1 CA2732312 A1 CA 2732312A1
Authority
CA
Canada
Prior art keywords
robotic arm
orientation
target
data
sensor
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.)
Abandoned
Application number
CA2732312A
Other languages
English (en)
Inventor
Mark Joseph Pivac
Michael Barrington Wood
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.)
Fastbrick IP Pty Ltd
Original Assignee
Goldwing Nominees Pty Ltd
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
Priority claimed from AU2007904640A external-priority patent/AU2007904640A0/en
Application filed by Goldwing Nominees Pty Ltd filed Critical Goldwing Nominees Pty Ltd
Publication of CA2732312A1 publication Critical patent/CA2732312A1/fr
Abandoned 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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • 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
    • G05B2219/37275—Laser, interferometer
    • 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
    • G05B2219/39176—Compensation deflection arm
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40511—Trajectory optimization, coarse for arm, medium for wrist, fine for finger

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
CA2732312A 2007-08-28 2008-08-28 Systeme et procede de commande precise en temps reel de position et d'orientation d'outillage Abandoned CA2732312A1 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
AU2007904639 2007-08-28
AU2007904640A AU2007904640A0 (en) 2007-08-28 Combined laser tracker and inertial navigation system
AU2007904640 2007-08-28
AU2007904639A AU2007904639A0 (en) 2007-08-28 Method for precise position control of tooling mounted to flexible or moveable machines
PCT/AU2008/001274 WO2009026641A1 (fr) 2007-08-28 2008-08-28 Système et procédé de commande précise en temps réel de position et d'orientation d'outillage

Publications (1)

Publication Number Publication Date
CA2732312A1 true CA2732312A1 (fr) 2009-03-05

Family

ID=40386573

Family Applications (2)

Application Number Title Priority Date Filing Date
CA2732310A Abandoned CA2732310A1 (fr) 2007-08-28 2008-08-28 Systeme et procede de mesure precise en temps reel d'une position et d'une orientation de cible par rapport a une position de base, et commande pour cela
CA2732312A Abandoned CA2732312A1 (fr) 2007-08-28 2008-08-28 Systeme et procede de commande precise en temps reel de position et d'orientation d'outillage

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CA2732310A Abandoned CA2732310A1 (fr) 2007-08-28 2008-08-28 Systeme et procede de mesure precise en temps reel d'une position et d'une orientation de cible par rapport a une position de base, et commande pour cela

Country Status (4)

Country Link
EP (2) EP2244865A4 (fr)
AU (2) AU2008291702A1 (fr)
CA (2) CA2732310A1 (fr)
WO (2) WO2009026641A1 (fr)

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Publication number Priority date Publication date Assignee Title
US8965571B2 (en) 2010-08-12 2015-02-24 Construction Robotics, Llc Brick laying system
DE102011011286A1 (de) * 2011-02-15 2012-08-16 Rheinisch-Westfälische Technische Hochschule Aachen Verfahren und System zur Korrektur der Position eines durch eine Steuerung bewegten Objektes
DE102012014312A1 (de) * 2012-07-19 2014-05-15 Kuka Roboter Gmbh Robotergeführte Messanordnung
EP2824420B1 (fr) 2013-07-08 2019-03-06 Hexagon Technology Center GmbH Dispositif de détermination de position à l'aide d'une unité de mesure à inertie
EP3174666B1 (fr) 2014-07-31 2021-07-07 Usnr, Llc Système de positionnement de pièce à usiner dirigée de façon dynamique
US9557157B2 (en) 2014-12-01 2017-01-31 Steven Eugene Ihlenfeldt Inertial dimensional metrology
US9812486B2 (en) 2014-12-22 2017-11-07 Google Inc. Time-of-flight image sensor and light source driver having simulated distance capability
US9757859B1 (en) 2016-01-21 2017-09-12 X Development Llc Tooltip stabilization
US9744665B1 (en) 2016-01-27 2017-08-29 X Development Llc Optimization of observer robot locations
US10059003B1 (en) 2016-01-28 2018-08-28 X Development Llc Multi-resolution localization system
WO2018009981A1 (fr) 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Machine de pose de briques/blocs incorporée dans un véhicule
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
CN108268056B (zh) * 2016-12-30 2020-12-15 昊翔电能运动科技(昆山)有限公司 手持云台校准方法、装置和系统
CN107255442B (zh) * 2017-06-06 2019-07-19 中国葛洲坝集团勘测设计有限公司 基于激光跟踪技术的大尺寸水轮发电机定子安装测量方法
WO2019006511A1 (fr) 2017-07-05 2019-01-10 Fastbrick Ip Pty Ltd Dispositif de suivi de position et d'orientation en temps réel
EP3669242A4 (fr) * 2017-08-17 2021-07-21 Fastbrick IP Pty Ltd Système de communication pour un système d'interaction
CN111226090B (zh) 2017-08-17 2023-05-23 快砖知识产权私人有限公司 具有改进的横滚角测量的激光跟踪器
CN111212799B (zh) 2017-10-11 2023-04-14 快砖知识产权私人有限公司 用于传送物体的机器以及与其一起使用的多隔间转盘
WO2019118969A1 (fr) * 2017-12-17 2019-06-20 Ap Robotics, Llc Système de mesure multidimensionnel permettant un calcul précis de la position et de l'orientation d'un objet dynamique
CN112689552A (zh) 2018-07-16 2021-04-20 快砖知识产权私人有限公司 主动阻尼系统
CN112703092A (zh) 2018-07-16 2021-04-23 快砖知识产权私人有限公司 交互系统的备份跟踪
JP7161753B2 (ja) * 2018-10-24 2022-10-27 国立大学法人広島大学 ロボットの運動精度測定方法及び位置補正方法
AU2019379873A1 (en) * 2018-11-14 2021-06-03 Fastbrick Ip Pty Ltd Position and orientation tracking system
RU2718025C1 (ru) * 2019-07-04 2020-03-30 федеральное государственное автономное образовательное учреждение высшего образования "Южно-Уральский государственный университет (национальный исследовательский университет)" Робот манипуляционный промышленный
CN114260577B (zh) * 2021-12-03 2024-01-05 重庆海尔制冷电器有限公司 冰箱激光打码系统及其控制方法

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Publication number Priority date Publication date Assignee Title
US4952772A (en) * 1988-11-16 1990-08-28 Westinghouse Electric Corp. Automatic seam tracker and real time error cumulative control system for an industrial robot
AU632388B2 (en) * 1989-11-30 1992-12-24 Self Levelling Machines Pty. Ltd. Milling apparatus
AU645640B2 (en) * 1990-12-20 1994-01-20 Self Levelling Machines Pty. Ltd. Machining apparatus
JP2769947B2 (ja) * 1992-05-15 1998-06-25 株式会社椿本チエイン マニピュレータの位置・姿勢制御方法
US5557397A (en) * 1994-09-21 1996-09-17 Airborne Remote Mapping, Inc. Aircraft-based topographical data collection and processing system
SE0001312D0 (sv) * 2000-04-10 2000-04-10 Abb Ab Industrirobot
US6427122B1 (en) * 2000-12-23 2002-07-30 American Gnc Corporation Positioning and data integrating method and system thereof
US7230689B2 (en) * 2002-08-26 2007-06-12 Lau Kam C Multi-dimensional measuring system
US6859729B2 (en) * 2002-10-21 2005-02-22 Bae Systems Integrated Defense Solutions Inc. Navigation of remote controlled vehicles
WO2005017550A2 (fr) * 2002-12-13 2005-02-24 Utah State University Research Foundation Systeme monte sur un vehicule et procede de capture et de traitement de donnees physiques
US7142981B2 (en) * 2003-08-05 2006-11-28 The Boeing Company Laser range finder closed-loop pointing technology of relative navigation, attitude determination, pointing and tracking for spacecraft rendezvous
WO2005014240A1 (fr) * 2003-08-11 2005-02-17 Mindready, Solutions Inc. Micro-ensemble et poste d'essai pour l'application de testeur de puces et de batonnets
EP1977058B1 (fr) * 2005-12-30 2014-07-16 Goldwing Nominees Pty Ltd. Systeme automatise de pose de briques pour construire un batiment a partir d'une pluralite de briques
DE102006030130B3 (de) * 2006-06-28 2007-09-27 Scansonic Gmbh Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks mittels eines Energiestrahls, insbesondere Laserstrahls

Also Published As

Publication number Publication date
EP2249997A1 (fr) 2010-11-17
EP2249997A4 (fr) 2013-08-28
EP2244865A4 (fr) 2013-08-28
EP2244865A1 (fr) 2010-11-03
WO2009026642A1 (fr) 2009-03-05
AU2008291701A1 (en) 2009-03-05
AU2008291702A1 (en) 2009-03-05
CA2732310A1 (fr) 2009-03-05
WO2009026641A1 (fr) 2009-03-05

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Legal Events

Date Code Title Description
EEER Examination request

Effective date: 20130822

FZDE Discontinued

Effective date: 20150828