WIPO logo
Mobile | Deutsch | Español | Français | 日本語 | 한국어 | Português | Русский | 中文 | العربية |
PATENTSCOPE

Search International and National Patent Collections
World Intellectual Property Organization
Search
 
Browse
 
Translate
 
Options
 
News
 
Login
 
Help
 
Machine translation
1. (WO2010143838) ROBOT CALIBRATION METHOD
Latest bibliographic data on file with the International Bureau   

Pub. No.:    WO/2010/143838    International Application No.:    PCT/KR2010/003570
Publication Date: 16.12.2010 International Filing Date: 03.06.2010
IPC:
B25J 9/22 (2006.01), B25J 9/10 (2006.01), B25J 13/08 (2006.01)
Applicants: EZROBOTICS LTD. [KR/KR]; #D-1405, Digital Empire Building 980-3 Youngtong-dong, Youngtong-gu Suwon-si, Gyeonggi-do 443-813 (KR) (For All Designated States Except US).
BORM, Jin Hwan [KR/KR]; (KR) (For US Only).
LEE, In Wook [KR/KR]; (KR) (For US Only).
SEO, Dong Gun [KR/KR]; (KR) (For US Only)
Inventors: BORM, Jin Hwan; (KR).
LEE, In Wook; (KR).
SEO, Dong Gun; (KR)
Agent: DYNE PATENT & LAW FIRM; 3rd Floor, Shinmyeong Building, 645-21 Yeoksam-dong, Gangnam-gu Seoul 135-910 (KR)
Priority Data:
10-2009-0050512 08.06.2009 KR
10-2010-0007549 27.01.2010 KR
Title (EN) ROBOT CALIBRATION METHOD
(FR) PROCÉDÉ D'ÉTALONNAGE D'UN ROBOT
(KO) 로봇 캘리브레이션 방법
Abstract: front page image
(EN)Disclosed is a gradual robot calibration method which gradually reflects state changes in a robot caused by changes in peripheral conditions such as temperature, humidity, or the like. The robot calibration method according to the present invention calibrates the robot using a measurement jig having a plurality of measurement points, wherein the robot calibration method comprises: a first data acquisition step of selecting one or more measurement points from among the measurement points on the measurement jig in a first pause period between a first process and a second processing subsequent to the first process, and measuring the location of the measurement point selected using a sensor coupled to the robot to obtain one or more calibration data including location information of the selected measurement point; a first update step of updating N calibration data, each of which includes location information of one or more measurement points preliminarily selected from among the measurement points on the measurement jig prior to the first process and measured by the sensor, to N calibration data using the calibration data acquired in the first data acquisition step; and a first calibration step of calibrating the robot in the first pause period on the basis of the N calibration data updated and acquired in the first update step. The method of the present invention has a time interval for reflecting state changes in the robot, which is shorter than the interval for acquiring full data and performing a calibration, and can reflect state changes in the robot in a more conservative and gradual method.
(FR)La présente invention concerne un procédé d'étalonnage graduel d'un robot qui reflète graduellement les changements d'état d'un robot provoqués par des changements de conditions périphériques telles que la température, l'humidité ou autres. Le procédé d'étalonnage d'un robot selon la présente invention étalonne le robot au moyen d'un gabarit de mesure comportant une pluralité de points de mesure. Le procédé d'étalonnage d'un robot comprend: une première étape d'acquisition de données pour sélectionner au moins un point de mesure parmi les points de mesure situés sur le gabarit de mesure pendant une première période de pause entre un premier processus et un second processus faisant suite au premier processus et pour mesure la position du point de mesure sélectionné au moyen d'un capteur relié au robot pour obtenir au moins une données d'étalonnage comprenant des informations de position du point de mesure sélectionné; une première étape d'actualisation de N données d'étalonnage, comprenant chacune des informations de position d'au moins un point de mesure sélectionné préalablement parmi les points de mesure situés sur le gabarit de mesure avant le premier processus et mesuré par le capteur, en N données d'étalonnage au moyen des données d'étalonnage acquises dans la première étape d'acquisition de données; et une première étape d'étalonnage pour étalonner le robot dans la première période de pause sur la base des N données d'étalonnage actualisées et acquises dans la première étape d'actualisation. Le procédé selon la présente invention comprend un intervalle de temps qui sert à refléter les changements d'état du robot, cet intervalle de temps étant plus court que l'intervalle pour l'acquisition de données complètes et pour l'exécution de l'étalonnage, et peut refléter les changements d'état du robot de manière plus classique et graduelle.
(KO)온도, 습도 등의 주변 상태의 변화로부터 초래되는 로봇의 상태 변화를 점진적으로 반영하기 위한 점진적 로봇 캘리브레이션 방법이 개시된다. 본 발명에 따른 로봇 캘리브레이션 방법은 복수의 측정점을 가지는 측정지그를 이용하여 로봇을 캘리브레이션하는 로봇 캘리브레이션 방법에 있어서, 제1공정 및 상기 제1공정 후속의 제2공정 사이의 제1휴지기에 상기 측정지그상의 측정점들 중에서 하나 이상의 측정점을 선택하고, 로봇에 결합된 센서를 이용하여 선택된 측정점의 위치를 측정하여, 선택 측정점의 위치 정보를 포함하는 하나 이상의 캘리브레이션 데이터를 얻는 제1데이터획득단계; 제1공정 전에 측정지그상의 측정점들 중에서 예비적으로 선택되어 센서에 의해 측정된 하나 이상의 측정점의 위치 정보를 각각 포함하는 N개의 캘리브레이션 데이터를 제1데이터획득단계에서 얻어진 캘리브레이션 데이터를 이용하여 N개의 캘리브레이션 데이터로 업데이트하는 제1업데이트단계; 및 제1업데이트단계에서 업데이트되어 얻어진 N개의 캘리브레이션 데이터를 기초로 제1휴지기에서 로봇을 캘리브레이션하는 제1캘리브레이션단계;를 구비한다. 본 발명에 따르면, 로봇의 상태 변화를 반영하는 시간 간격이 전체 데이터를 획득하여 캘리브레이션을 수행하는 간격보다 짧고, 로봇의 상태 변화를 좀 더 보수적이면서도 점진적으로 반영할 수 있다.
Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IS, JP, KE, KG, KM, KN, KP, KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PE, PG, PH, PL, PT, RO, RS, RU, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW.
African Regional Intellectual Property Organization (BW, GH, GM, KE, LR, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG).
Publication Language: Korean (KO)
Filing Language: Korean (KO)