公开(公告)号：WO2004108363A1

公开(公告)日：2004-12-16

申请号：PCT/SE2004/000845

申请日：2004-06-01

Applicant: ABB AB

Inventor： ROSSANO, Gregory ,  TANG, Quing ,  LI, Xiongzi ,  SUN, Yunquan ,  GAN, Zhongxue ,  BROGÅRDH, Torgny ,  BRANTMARK, Håkan

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B23K26/04 ,  B23K26/0884 ,  B25J9/1692 ,  G05B19/4083 ,  G05B19/425 ,  G05B2219/36404 ,  G05B2219/36407

Abstract: A method for fine tuning of a robot program for a robot application comprising an industrial robot, tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft’, Yft’, Zft’.

Abstract translation: 一种用于机器人应用的机器人程序的微调的方法，包括工业机器人，工具和工件，所述工具由所述工具沿着包括工作对象上的多个所需姿势的路径处理，所述机器人程序包括多个 程序指令，其包含对应于期望姿态的编程姿势，其中所述方法包括：定义微调坐标系Xft，Yft，Zft，选择所述编程姿态pi中的一个，在微调坐标系中计算所述选定姿势，产生程序指令 对于微调坐标系中的所述选定姿态，通过机器人运行所述一个或多个程序指令，确定在运行程序指令之后获得的姿态与所需姿势之间的差异，根据所述差异调整微调坐标系 在调整的微调坐标系Xft'，Yft'中产生用于所述选定姿势的程序指令， ZFT”。

公开(公告)号：WO2004108364A1

公开(公告)日：2004-12-16

申请号：PCT/SE2004/000846

申请日：2004-06-01

Applicant: ABB AB

Inventor： ROSSANO, Gregory ,  TANG, Quing ,  LI, Xiongzi ,  SUN, Yunquan ,  GAN, Zhongxue ,  BROGÅRDH, Torgny ,  BRANTMARK, Håkan

IPC: B25J9/16

CPC classification number: G05B19/4083 ,  B25J9/1692 ,  G05B2219/36504 ,  G05B2219/39021 ,  G05B2219/39022

Abstract: A method for programming of a robot application comprising an industrial robot having a robot coordinate system, a tool having a tool coordinate system and a work object (3) to be processed by the tool. The application is programmed by means of a position-measuring unit (15) adapted for measuring positions relative a measuring coordinate system (db). The programming method comprises: selecting an object reference structure (25) on the object, defining a mathematical model for the object reference structure, defining an object coordinate system (o2), providing measurements by the position-measuring unit on the surface of the object reference structure, determining the object coordinate system in relation to the measuring coordinate system (db) by best fit between said measurements and said mathematical model of the object reference structure.

Abstract translation: 一种用于机器人应用程序编程的方法，包括具有机器人坐标系的工业机器人，具有工具坐标系的工具和由工具处理的工件（3）。 应用程序通过位置测量单元（15）进行编程，位置测量单元适用于相对测量坐标系（db）测量位置。 编程方法包括：在对象上选择对象参考结构（25），定义对象参考结构的数学模型，定义对象坐标系（o2），通过位置测量单元在对象表面上提供测量 参考结构，通过所述测量与对象参考结构的所述数学模型之间的最佳拟合来确定与测量坐标系（db）相关的对象坐标系。

公开(公告)号：EP1631423B1

公开(公告)日：2009-09-02

申请号：EP04748974.5

申请日：2004-06-01

Applicant: ABB AB

Inventor： ROSSANO, Gregory ,  TANG, Quing ,  LI, Xiongzi ,  SUN, Yunquan ,  GAN, Zhongxue ,  BROGÄRDH, Torgny ,  BRANTMARK, H kan

IPC: B25J9/16 ,  G05B19/408 ,  G05B19/42 ,  G05B19/18

CPC classification number: B25J9/1664 ,  B23K26/04 ,  B23K26/0884 ,  B25J9/1692 ,  G05B19/4083 ,  G05B19/425 ,  G05B2219/36404 ,  G05B2219/36407

Abstract: A method for fine tuning of a robot program for a robot application comprising an industrial robot, tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft’, Yft’, Zft’.

公开(公告)号：EP1631423A1

公开(公告)日：2006-03-08

申请号：EP04748974.5

申请日：2004-06-01

Applicant: ABB AB

Inventor： ROSSANO, Gregory ,  TANG, Quing ,  LI, Xiongzi ,  SUN, Yunquan ,  GAN, Zhongxue ,  BROGÄRDH, Torgny ,  BRANTMARK, H kan

IPC: B25J9/16 ,  G05B19/408 ,  G05B19/42 ,  G05B19/18

CPC classification number: B25J9/1664 ,  B23K26/04 ,  B23K26/0884 ,  B25J9/1692 ,  G05B19/4083 ,  G05B19/425 ,  G05B2219/36404 ,  G05B2219/36407

Abstract: A method for fine tuning of a robot program for a robot application comprising an industrial robot, tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft’, Yft’, Zft’.

公开(公告)号：EP1631422A1

公开(公告)日：2006-03-08

申请号：EP04735698.5

申请日：2004-06-01

Applicant: ABB AB

Inventor： ROSSANO, Gregory ,  TANG, Quing ,  LI, Xiongzi ,  SUN, Yunquan ,  GAN, Zhongxue ,  BROG RDH, Torgny ,  BRANTMARK, H kan

IPC: B25J9/16 ,  G05B19/42 ,  G05B19/408

CPC classification number: G05B19/4083 ,  B25J9/1692 ,  G05B2219/36504 ,  G05B2219/39021 ,  G05B2219/39022

Abstract: A method for programming of a robot application comprising an industrial robot having a robot coordinate system, a tool having a tool coordinate system and a work object (3) to be processed by the tool. The application is programmed by means of a position-measuring unit (15) adapted for measuring positions relative a measuring coordinate system (db). The programming method comprises: selecting an object reference structure (25) on the object, defining a mathematical model for the object reference structure, defining an object coordinate system (o2), providing measurements by the position-measuring unit on the surface of the object reference structure, determining the object coordinate system in relation to the measuring coordinate system (db) by best fit between said measurements and said mathematical model of the object reference structure.