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3. 发明授权

US06345213B1 Control method for an industrial robot 有权
标题翻译：工业机器人的控制方法
公开(公告)号：US06345213B1
公开(公告)日：2002-02-05
申请号：US09700438
申请日：2001-02-14
申请人： Ralf-Gunter Graeser , Robert Klingel
发明人： Ralf-Gunter Graeser , Robert Klingel
IPC分类号： G06F1900
CPC分类号： B25J9/1692 , G05B2219/39008 , G05B2219/39033 , G05B2219/49206 , G05B2219/49207 , Y10S414/13
摘要： A method provides an exact measurement of the tool center point (TCP) being carried out, preferably in the whole working area of the robot. In this measurement, the robot moves very slowly so that little heat is generated by the driving assemblies and the temperature gradients are as low as possible. The measurement can be made, for example, using a high-precision laser distance and angle measurement system. The measurement is carried out such that a measuring point is moved to working area points and then the deviations of the positions and/or orientations of the measuring point are determined using the laser distance and angle measurement system, i.e. a nominal/actual comparison is made. The TCP can preferably serve as the measuring point. The point must always be selected so that the positioning and orientation deviations of the kinematic chain with respect to the PCT can be determined with sufficient accuracy.
摘要翻译：一种方法提供了正在进行的刀具中心点（TCP）的精确测量，优选地在机器人的整个工作区域中。在此测量中，机器人运动非常缓慢，因此驱动组件产生的热量很小，温度梯度尽可能低。可以例如使用高精度的激光距离和角度测量系统进行测量。进行测量，使得测量点移动到工作区域点，然后使用激光距离和角度测量系统确定测量点的位置和/或取向的偏差，即进行标称/实际比较。 TCP可以优选地用作测量点。必须始终选择该点，使得可以以足够的精度确定运动链相对于PCT的定位和定向偏差。

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