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1. 发明申请

WO2014060516A1 METHOD FOR IN-LINE CALIBRATION OF AN INDUSTRIAL ROBOT, CALIBRATION SYSTEM FOR PERFORMING SUCH A METHOD AND INDUSTRIAL ROBOT COMPRISING SUCH A CALIBRATION SYSTEM 审中-公开
标题翻译：用于工业机器人的在线校准的方法，用于执行这种方法的校准系统和包含校准系统的工业机器人
公开(公告)号：WO2014060516A1
公开(公告)日：2014-04-24
申请号：PCT/EP2013/071726
申请日：2013-10-17
申请人： INOS AUTOMATIONSSOFTWARE GMBH
发明人： ALIFRAGKIS, Matthaios , BOUGANIS, Alexandros , DEMOPOULOS, Andreas , TASSAKOS, Charalambos
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39018 , G05B2219/39043 , G05B2219/39046 , G05B2219/39048 , G05B2219/39056 , G05B2219/39391 , G05B2219/39394 , G05B2219/39397
摘要： The invention refers to a method for in-line calibration of an industrial robot (1). The robot (1) comprises a fixed base section (2) and a multi chain link robot arm (3). The chain links (4) are interconnected and connected to the base section (2) of the robot (1), respectively, by means of articulated joints (5). An end effector (6) of the robot arm (3) can be moved in respect to the base section (2) within a three-dimensional workspace into any desired location. The idea is to move the end effector (6) into a predefined calibration location and to determine characteristic parameters of the robot (1) for that location. The characteristic parameters are compared to previously acquired values of the corresponding parameters for that calibration location. The differences between the characteristic parameters of the current location and the previously acquired parameters are used for correcting the kinematic model of the robot (1) and during normal operation of the robot (1) to enhance the accuracy of movement of the distal end (6). The end effector (6) is moved exactly into the calibration location by means of an iterative closed loop control process, in which light sources (7) fixedly connected to the end effector (6) emit light rays which impact on at least one optical position sensor (12) fixedly positioned in respect to the robot base (2). The end effector (6) is moved such that the actual ray positions (20) on the sensors (12) are moved to a predefined position (20') corresponding to the predefined calibration location by means of the iterative process.
摘要翻译：本发明涉及一种用于工业机器人（1）的在线校准的方法。机器人（1）包括固定基部（2）和多链节机器人手臂（3）。链节（4）通过铰接接头（5）分别互连并连接到机器人（1）的基部（2）。机器人臂（3）的端部执行器（6）可以在三维工作空间内相对于基部（2）移动到任何期望的位置。这个想法是将末端执行器（6）移动到预定义的校准位置并确定该位置的机器人（1）的特征参数。将特征参数与该校准位置的相应参数的先前获取的值进行比较。使用当前位置的特征参数与先前获取的参数之间的差异来校正机器人（1）的运动学模型和机器人（1）的正常操作期间，以提高远端（6）的移动精度）。末端执行器（6）通过迭代闭环控制过程精确地移动到校准位置，其中固定地连接到末端执行器（6）的光源（7）发射影响至少一个光学位置的光线相对于机器人基座（2）固定地定位的传感器（12）。移动末端执行器（6），使得传感器（12）上的实际射线位置（20）通过迭代过程移动到与预定义的校准位置对应的预定位置（20'）。

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