公开(公告)号：US20170008173A1

公开(公告)日：2017-01-12

申请号：US15106809

申请日：2014-12-22

Applicant: AIRBUS GROUP SAS

Inventor： LOUIS LE PINRU ,  NICOLAS COLIN ,  GUILLAUME ITHURRALDE

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1694 ,  G05B2219/37014 ,  G05B2219/37269 ,  G05B2219/39022 ,  Y10S901/09

Abstract: A process for marking the real position and real orientation of a tool in relation to the manipulator arm of a robot. The process utilizes the amplitude measurements of acoustic signals and the flight time measurement of the acoustic waves emitted by an acoustic probe of the tool and reflected by the fixed reference elements. The position of the center of reference of the probe relative to the end of the manipulator arm is determined. The axes X and Y defining the plane of the probe along reference axes X′ and Y′ of known orientations are oriented so that the modification of the position and of the orientation of the probe in the reference frame can be defined. The displacements of the manipulator arm are managed by the controller based on the position of the probe in relation to the manipulator arm and the reference orientation of the probe.

Abstract translation: 用于标记相对于机器人的操纵臂的工具的实际位置和实际取向的过程。 该过程利用声学信号的幅度测量和由工具的声学探针发射并由固定参考元件反射的声波的飞行时间测量。 确定探头相对于机械手臂端部的参考点的位置。 沿着已知取向的参考轴X'和Y'限定探头的平面的轴线X和Y被定向成可以限定探针在参考系中的位置和取向的修改。 基于探针相对于操纵臂的位置和探针的参考方位，由控制器管理操纵臂的位移。