公开(公告)号：US09297640B2

公开(公告)日：2016-03-29

申请号：US14303915

申请日：2014-06-13

Applicant: inos Automationssoftware GmbH

Inventor： Charalambos Tassakos ,  Constantinos Theiakos ,  Thomas Gerhard Lesch ,  Andreas Demopoulos

IPC: G01J1/10 ,  G01B11/00 ,  G01B21/04

CPC classification number: G01B11/002 ,  G01B21/042 ,  G05B2219/37571 ,  G05B2219/39057 ,  G05B2219/40613

Abstract: A method for calibrating an optical arrangement in respect to a global coordinate system is provided. The optical arrangement includes a rigid carrier, an optical acquiring unit and a light emitting unit both releasably connected to the carrier. The optical acquiring unit or the light emitting unit is calibrated in respect to a reference coordinate system offline and independently from the optical arrangement. Values of a conversion matrix are determined for converting the calibration data into corresponding calibration data in respect to the global coordinate system. A calibration of the entire optical arrangement is performed once in respect to the global coordinate system. During the intended use of the optical arrangement, the calibration data acquired for the unit and/or the respective values of the conversion matrix are considered when generating control signals for the unit and/or when processing sensor signals received from the unit.

Abstract translation: 提供了一种用于校准相对于全局坐标系的光学布置的方法。 光学装置包括刚性载体，光学获取单元和可释放地连接到载体的发光单元。 光学获取单元或发光单元相对于离线且与光学装置独立的参考坐标系进行校准。 确定转换矩阵的值，用于将校准数据转换成相对于全局坐标系的对应的校准数据。 相对于全局坐标系，对整个光学装置进行校准一次。 在光学布置的预期使用期间，当为单元产生控制信号和/或当处理从单元接收到的传感器信号时，考虑为单元获取的校准数据和/或转换矩阵的相应值。

公开(公告)号：US20140368838A1

公开(公告)日：2014-12-18

申请号：US14303915

申请日：2014-06-13

Applicant: inos Automationssoftware GmbH

Inventor： Charalambos Tassakos ,  Constantinos Theiakos ,  Thomas Gerhard Lesch ,  Andreas Demopoulos

IPC: G01B11/00

CPC classification number: G01B11/002 ,  G01B21/042 ,  G05B2219/37571 ,  G05B2219/39057 ,  G05B2219/40613

Abstract: A method for calibrating an optical arrangement in respect to a global coordinate system is provided. The optical arrangement includes a rigid carrier, an optical acquiring unit and a light emitting unit both releasably connected to the carrier. The optical acquiring unit or the light emitting unit is calibrated in respect to a reference coordinate system offline and independently from the optical arrangement. Values of a conversion matrix are determined for converting the calibration data into corresponding calibration data in respect to the global coordinate system. A calibration of the entire optical arrangement is performed once in respect to the global coordinate system. During the intended use of the optical arrangement, the calibration data acquired for the unit and/or the respective values of the conversion matrix are considered when generating control signals for the unit and/or when processing sensor signals received from the unit.

Abstract translation: 提供了一种用于校准相对于全局坐标系的光学布置的方法。 光学装置包括刚性载体，光学获取单元和可释放地连接到载体的发光单元。 光学获取单元或发光单元相对于离线且与光学装置独立的参考坐标系进行校准。 确定转换矩阵的值，用于将校准数据转换成相对于全局坐标系的对应的校准数据。 相对于全局坐标系，对整个光学装置进行校准一次。 在光学布置的预期使用期间，当为单元产生控制信号和/或当处理从单元接收到的传感器信号时，考虑为单元获取的校准数据和/或转换矩阵的相应值。

公开(公告)号：US20150266183A1

公开(公告)日：2015-09-24

申请号：US14434840

申请日：2013-10-17

Applicant: inos Automationssoftware GmbH

Inventor： Matthaios Alifragkis ,  Alexandros Bouganis ,  Andreas Demopoulos ,  Charalambos Tassakos

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  G05B2219/39018 ,  G05B2219/39043 ,  G05B2219/39046 ,  G05B2219/39048 ,  G05B2219/39056 ,  G05B2219/39391 ,  G05B2219/39394 ,  G05B2219/39397

Abstract: 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.

Abstract translation: 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对应于预定义的校准位置的预定位置（20'）。

公开(公告)号：USD724127S1

公开(公告)日：2015-03-10

申请号：US29469834

申请日：2013-10-15

Applicant: Inos Automationssoftware GmbH

Designer： Andreas Demopoulos ,  Thomas Lesch ,  Charalambos Tassakos ,  Konstantinos Theiakos

公开(公告)号：USD723599S1

公开(公告)日：2015-03-03

申请号：US29469831

申请日：2013-10-15

Applicant: inos Automationssoftware GmbH

Designer： Andreas Demopoulos ,  Thomas Lesch ,  Charalambos Tassakos ,  Konstantinos Theiakos