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1. WO2002000399 - ROBOT DEVICE AND METHOD OF ADJUSTING ORIGIN OF ROBOT

Publication Number WO/2002/000399
Publication Date 03.01.2002
International Application No. PCT/JP2000/004161
International Filing Date 26.06.2000
IPC
B25J 9/16 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
CPC
B25J 9/1638
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1638compensation for arm bending/inertia, pay load weight/inertia
B25J 9/1692
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1692Calibration of manipulator
G05B 2219/37134
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
37Measurements
37134Gyroscope
G05B 2219/37542
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
37Measurements
37542Curve fitting measured points, predict, extrapolate dimension in time
Applicants
  • MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD. [JP]/[JP] (AllExceptUS)
  • MUKAI, Yasushi [JP]/[JP] (UsOnly)
  • HIRAYAMA, Masaya [JP]/[JP] (UsOnly)
Inventors
  • MUKAI, Yasushi
  • HIRAYAMA, Masaya
Agents
  • IWAHASHI, Fumio
Priority Data
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) ROBOT DEVICE AND METHOD OF ADJUSTING ORIGIN OF ROBOT
(FR) ROBOT, ET PROCEDE DE REGLAGE DE L'ORIGINE D'AXES DE ROBOT
Abstract
(EN) Rotating joint axes having adjacent rotating joint axes not parallel to one another in a robot device having a plurality of rotating joint axes, wherein rotating angles of rotating joint axes and tilt angles, with respect to a gravitational direction, of a robot arm are measured at at least three rotating angle positions, regression coefficients $g(a), $g(b) are calculated from the obtained rotating angle information $g(U)i and tilt angle information Yi using as a regression function Y= $g(a)SIN($g(U)+$g(b))+$g(g), and the origin of rotating joint axes are adjusted based on the obtained tilt angles and the tilt directions of rotating joint axes.
(FR) L'invention concerne les axes rotatifs d'articulation adjacents non parallèles d'un robot équipé d'une pluralité de ces axes. On mesure les angles de rotation des axes et les angles d'inclinaison d'un bras de robot, par rapport à une direction de gravitation, en au moins trois positions angulaires de rotation, puis on détermine les coefficients de régression $g(a), $g(b) à partir de l'information d'angle de rotation $g(u)I et de l'information d'angle d'inclinaison Yi en utilisant la fonction de régression Y = $g(a)SIN ($g(u)+$g(b)) + $g(g). On peut ensuite régler l'origine des axes rotatifs d'articulation sur la base des angles d'inclinaison et des directions d'inclinaison déterminés pour ces axes.
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