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Robotic system with supplemental position

A robot system and robot technology, applied in the field of robot systems, can solve problems that are not expected to be used

Pending Publication Date: 2022-04-19
MITUTOYO CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] While it is possible to calibrate robotic systems using techniques such as those described in the '965 patent, the use of such techniques may be less desirable in certain applications (e.g., it may take a significant amount of time and / or may not in which all possible orientations of the robot provide the required level of precision, etc.)

Method used

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  • Robotic system with supplemental position
  • Robotic system with supplemental position
  • Robotic system with supplemental position

Examples

Experimental program
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Effect test

Embodiment Construction

[0031] figure 1 is a block diagram of a first exemplary embodiment of a robotic system 100 including an articulated robot 110 and a supplemental metrology position determination system 150 . Articulated robot 110 includes a movable arm structure MAC and a robot motion control and processing system 140 . exist figure 1 In the example, the movable arm structure MAC includes a first arm portion 121 and a second arm portion 122, a first swivel joint 131 and a second swivel joint 132 (for example, as part of the first kinematic mechanism and the second kinematic mechanism included in Inside), position sensors SEN1 and SEN2, and end tool structure ETCN. The first arm portion 121 is mounted to the first rotary joint 131 at the proximal end PE1 of the first arm portion 121 . The axis of rotation RA1 of the first rotary joint 131 (e.g., located at the upper end of the support base BSE) is aligned along the z-axis direction such that the first arm portion 121 is expected to rotate ...

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Abstract

A supplemental metered position determination system for a robot is provided. The robot includes a movable arm structure and a motion control system configured to control end tool position at robot accuracy (i.e., based on sensors included in the robot). The supplemental system includes a camera and a 2D scale, each of which is attached to a movable arm structure (e.g., to an arm and / or rotational joint). The camera is operable to acquire an image for determining a relative position of the scale. The scale may be coupled to the rotational joint (e.g., may be used to determine rotational motion as well as any motion transverse to the axis of rotation) and / or to the arm (e.g., may be used to determine any bending or distortion of the arm). Such information may be used to achieve higher accuracy (e.g., for measurement operations and / or control, etc.) of a robot.

Description

[0001] Cross References to Related Applications [0002] This application is a continuation-in-part of U.S. Patent Application No. 16 / 146,640, filed September 28, 2018, entitled "Supplementary Metrology Position Coordinate Determination System for Robots," which was filed on August 16, 2018 Continuation-in-Part of US Patent Application No. 16 / 104,033, entitled "Robot System with Supplementary Metrology Position Coordinate Determination System," filed on . [0003] Background of the invention technical field [0004] The present disclosure relates to robotic systems, and more particularly to systems for determining coordinates of an end tool position of a robot. Background technique [0005] Robotic systems are increasingly used in manufacturing and other processes. Various types of robots that can be used include articulated robots, selectively compliant articulated robotic arm (SCARA) robots, Cartesian robots, cylindrical robots, spherical robots, and others. As one e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/04
CPCB25J9/161B25J9/1612B25J9/1664B25J9/1694B25J9/1697B25J9/042B25J13/088B25J19/023B25J9/1692
Inventor M.那鸿
Owner MITUTOYO CORP