DE68926614D1 - Automatisches sollwert-bereitstellungsverfahren für ein sichtsensorsystem - Google Patents

Automatisches sollwert-bereitstellungsverfahren für ein sichtsensorsystem

Info

Publication number
DE68926614D1
DE68926614D1 DE68926614T DE68926614T DE68926614D1 DE 68926614 D1 DE68926614 D1 DE 68926614D1 DE 68926614 T DE68926614 T DE 68926614T DE 68926614 T DE68926614 T DE 68926614T DE 68926614 D1 DE68926614 D1 DE 68926614D1
Authority
DE
Germany
Prior art keywords
providing
sensor system
visual sensor
automatic setpoint
setpoint process
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.)
Expired - Fee Related
Application number
DE68926614T
Other languages
English (en)
Other versions
DE68926614T2 (de
Inventor
Atsushi Watanabe
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of DE68926614D1 publication Critical patent/DE68926614D1/de
Application granted granted Critical
Publication of DE68926614T2 publication Critical patent/DE68926614T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
DE68926614T 1988-07-01 1989-06-30 Automatisches sollwert-bereitstellungsverfahren für ein sichtsensorsystem Expired - Fee Related DE68926614T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP63162657A JPH0213804A (ja) 1988-07-01 1988-07-01 視覚センサにおけるノミナル設定方式
PCT/JP1989/000661 WO1990000109A1 (en) 1988-07-01 1989-06-30 Nominal data automatic setting method of visual sensor system

Publications (2)

Publication Number Publication Date
DE68926614D1 true DE68926614D1 (de) 1996-07-11
DE68926614T2 DE68926614T2 (de) 1996-10-02

Family

ID=15758796

Family Applications (1)

Application Number Title Priority Date Filing Date
DE68926614T Expired - Fee Related DE68926614T2 (de) 1988-07-01 1989-06-30 Automatisches sollwert-bereitstellungsverfahren für ein sichtsensorsystem

Country Status (5)

Country Link
US (1) US5066902A (de)
EP (1) EP0378703B1 (de)
JP (1) JPH0213804A (de)
DE (1) DE68926614T2 (de)
WO (1) WO1990000109A1 (de)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2806604B2 (ja) * 1990-06-29 1998-09-30 ファナック株式会社 カメラの位置ずれ検出方法
US6356671B1 (en) * 1991-07-05 2002-03-12 Fanuc Ltd. Image processing method for an industrial visual sensor
JP2764485B2 (ja) * 1991-08-27 1998-06-11 ファナック株式会社 リアルタイムセンサの診断方法
US5255096B1 (en) * 1992-04-10 1997-12-23 William M Boyle Video time code synchronized robot control 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
US5606494A (en) * 1993-11-25 1997-02-25 Casio Computer Co., Ltd. Switching apparatus
JP3394322B2 (ja) * 1994-05-19 2003-04-07 ファナック株式会社 視覚センサを用いた座標系設定方法
US5853330A (en) * 1994-06-02 1998-12-29 Engstrand; Brad Sensory simulator and editor
US5496220A (en) * 1994-06-02 1996-03-05 Brad Engstrand Sensory simulator
JP3418456B2 (ja) * 1994-06-23 2003-06-23 ファナック株式会社 ロボット位置教示具及びロボット位置教示方法
JPH0970780A (ja) * 1995-09-06 1997-03-18 Fanuc Ltd ロボットのツール形状補正方式
KR970062838A (ko) * 1996-02-27 1997-09-12 이종수 씨씨디(ccd) 카메라와 레이져를 이용한 3차원 로보트 캘리브레이션 장치 및 방법
US6136653A (en) 1998-05-11 2000-10-24 Mosel Vitelic, Inc. Method and device for producing undercut gate for flash memory
US6039653A (en) * 1998-11-16 2000-03-21 Engstrand; Brad Apparatus, system and method for experiencing motion
DE10120948C1 (de) * 2001-04-23 2002-11-28 Schunk Gmbh & Co Kg Sensorsystem für ein Greifersystem sowie Greifersystem
US7870504B1 (en) * 2003-10-01 2011-01-11 TestPlant Inc. Method for monitoring a graphical user interface on a second computer display from a first computer
JP5939267B2 (ja) * 2014-03-05 2016-06-22 株式会社安川電機 ロボット監視システム、ロボット監視装置、ロボット監視方法、ロボット監視モジュール、およびロボット監視プログラム
GB2547220A (en) 2016-02-10 2017-08-16 Testplant Europe Ltd Method of, and apparatus for, testing computer hardware and software
GB2547222A (en) 2016-02-10 2017-08-16 Testplant Europe Ltd Method of, and apparatus for, testing computer hardware and software
EP3946825A1 (de) * 2019-03-25 2022-02-09 ABB Schweiz AG Verfahren und steuerungsanordnung zur bestimmung einer beziehung zwischen einem roboterkoordinatensystem und koordinatensystem einer beweglichen vorrichtung

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50112969A (de) * 1974-02-18 1975-09-04
JPS5916286B2 (ja) * 1976-03-24 1984-04-14 株式会社日立製作所 工業用ロボツトの動作制御方法
JPS5856003A (ja) * 1981-09-30 1983-04-02 Hitachi Ltd 工業用ロボツトの制御方法
JPS59189415A (ja) * 1983-04-13 1984-10-27 Hitachi Ltd 工業用ロボツトの動作教示方法および装置
JPS6035209A (ja) * 1983-08-08 1985-02-23 Amada Co Ltd メジヤリングロボツトを用いた自動測定方法
JPS60196604A (ja) * 1984-03-19 1985-10-05 Tokico Ltd 工業用ロボツト
JPS60263681A (ja) * 1984-06-08 1985-12-27 株式会社日立製作所 ロボツトの教示方法
JPS61130809A (ja) * 1984-11-30 1986-06-18 Mitsubishi Electric Corp 視覚センサ
JPH0619335B2 (ja) * 1985-01-25 1994-03-16 シグマツクス株式会社 物体認識装置
JPS61173878A (ja) * 1985-01-30 1986-08-05 株式会社日立製作所 ロボツトの個体差対応テイ−チデ−タ修正方式
JPS61279480A (ja) * 1985-06-04 1986-12-10 株式会社不二越 ロボツトの作業点教示方法
US4704694A (en) * 1985-12-16 1987-11-03 Automation Intelligence, Inc. Learned part system
JPS62145104A (ja) * 1985-12-19 1987-06-29 Fanuc Ltd ビジヨンシステムの制御方法
US4707647A (en) * 1986-05-19 1987-11-17 Gmf Robotics Corporation Gray scale vision method and system utilizing same
US4757459A (en) * 1986-05-29 1988-07-12 Cincinnati Milacron Inc. Apparatus and method for programming a computer operated robot arm using macro instructions
JP3104000B2 (ja) * 1993-01-11 2000-10-30 新日本製鐵株式会社 連続鋳造における軽圧下法
JP2621756B2 (ja) * 1993-04-05 1997-06-18 日本電気株式会社 映像スイッチャの自己診断装置

Also Published As

Publication number Publication date
EP0378703A4 (en) 1992-07-22
EP0378703B1 (de) 1996-06-05
JPH0213804A (ja) 1990-01-18
DE68926614T2 (de) 1996-10-02
EP0378703A1 (de) 1990-07-25
WO1990000109A1 (en) 1990-01-11
US5066902A (en) 1991-11-19

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)
8339 Ceased/non-payment of the annual fee