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Zhongxue Gan

Yunquan Sun

ZhongXue Gan

Gregory F Rossano

Torgny Brog&aring;rdh

Xiongzi Li

Quing Tang

Qing Tang

H&aring;kan Brantmark

H&auml;kan Brantmark

A method for fine tuning of a robot program for a robot application comprising an industrial robot, a 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&prime;, Yft&prime;, Zft&prime;.

Method for fine tuning of a robot program

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 ( ) to be processed by the tool. The application is programmed by means of a position-measuring unit ( ) adapted for measuring positions relative a measuring coordinate system (db). The programming method comprises: selecting an object reference structure ( ) on the object, defining a mathematical model for the object reference structure, defining an object coordinate system (o ), 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.

Method for calibrating and programming of a robot application

A relative calibration system and method for robot workcell calibration is capable of correcting errors between the robot tool center point (TCP) and the work-object frame according to a relative reference, in that a precision path will be created based on this calibrated workcell.

In-process relative robot workcell calibration

A control system by which, the lobing and thermal-damage on a component surface will be eliminated and a component of a circular cross-section is capable of being ground with ultra-precision and high quality surface finish. The system includes (i) an automatic controlled supporting device, by which the periphery support of circular component of any size is auto-formed in a most stable work-holding condition; (ii) a flexible rear-shoe with active filtering mechanism, by which the high frequency lobing will be removed and the heat generated in the contact area between the workpiece and rear-shoe will be reduced by the self-lubrication of rear-shoe; (iii) an on-line vision-based temperature monitoring and control device, by which the overheat on the workpiece is controlled; (iv) an on-line phase precession lobing control algorithm, by which the lobing will be effectively suppressed in a rounding process.

Apparatus and method for lobing and thermal-damage control in shoe

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Storrs, CT, United States of America

Yunquan Sun