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Device for acquiring a position and orientation of an end effector of a robot

An end effector and manipulator technology, applied in manipulators, program-controlled manipulators, instruments, etc., can solve the problems of inability to use end effector position and positioning, high cost and high complexity, etc., to reduce visibility problems and improve accuracy. Sex, the effect of small deviations

Active Publication Date: 2020-04-14
CARL ZEISS IND MESSTECHN GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0013] Therefore, the known methods for determining the position and positioning of the end effector of the manipulator are highly complex and associated with a high outlay of costs, or cannot be applied to determine the position and positioning of the end effector at each working position

Method used

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  • Device for acquiring a position and orientation of an end effector of a robot
  • Device for acquiring a position and orientation of an end effector of a robot
  • Device for acquiring a position and orientation of an end effector of a robot

Examples

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Embodiment Construction

[0062] figure 1 A first exemplary embodiment of a device 10 for acquiring the position and positioning of an end effector 12 of a manipulator 14 is shown. The device 10 according to the invention has an optical sensor 16 . The optical sensor 16 may be, for example, a camera 17 or another sensor system for recording image data. In other exemplary embodiments, the optical sensor 16 can also have, for example, a plurality of optical sensors 16 which can be arranged, for example, in a common housing or be spatially separated from one another.

[0063] In addition to the optical sensor 16 , the device 10 according to the invention also has a storage unit 18 and an evaluation unit 20 .

[0064] The memory unit 18 can be designed, for example, as a hardware memory, such as a hard disk memory. In other exemplary embodiments, the storage unit 18 may also be designed in the form of, for example, a virtual storage (eg, cloud storage). The storage unit 18 can be arranged separately fr...

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Abstract

The invention provides a device for acquiring a position and orientation of an end effector of a robot. The device comprises an optical sensor configured to acquire image data of the first optical mark and / or the second optical mark; a storage unit configured to be Store the kinematics model of the robotic arm; an evaluation unit configured to: the first optical mark is available for the opticalsensor In the first case, the first position of the first optical mark is determined based on the image data, and the position and positioning of the end effector are determined based on the first position, and in the second case where the sensor is not visible but the second optical mark is visible to the optical sensor, the second position of the second optical mark is determined based on the image data, and based on the second position and based on the kinematic model Determine the position and positioning of the end effector.

Description

technical field [0001] The invention relates to a device and a method for acquiring the position and positioning of an end effector of a robot in an industrial environment, for example during a work process performed by the robot. The invention also relates to a position acquisition system designed to carry out the method according to the invention. Background technique [0002] Manipulators, such as industrial manipulators, are commonly available programmable machines in industrial environments, eg, for measuring, mounting, processing, handling and / or quality control of workpieces. [0003] A robotic hand usually has a robotic arm (a so-called manipulator), a control unit and an end effector. For example, tools, grippers and / or one or more sensors can be arranged on the end effector, and these tools, grippers and / or one or more sensors are used, for example, to measure, process, install, and handle workpieces artifacts and / or control their quality. Since the manipulator ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1697B25J9/1664B25J9/1602B25J9/1692G05B2219/40595G05B2219/39192B25J9/1653
Inventor H.戈勒P.霍夫曼I.考茨G.萨特尔迈尔
Owner CARL ZEISS IND MESSTECHN GMBH
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