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Title:
仮想ツールセンターポイントを決定する方法
Document Type and Number:
Japanese Patent JP2009509789
Kind Code:
A
Abstract:
In order to determine a virtual sensor tool center point sensor TCP of a light section sensor, the invention provides that: the sensor TCP is placed in sufficient concordance with a point on a line on a surface a so-called feature of a reference part with a known location; a normal to the surface of the reference part is determined; the Z direction of the sensor is brought in concordance with the normal of the surface of the reference part, and; a defined alignment of the sensor with the line of the feature is determined.

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Inventors:
Cola, thomas
Application Number:
JP2008533923A
Publication Date:
March 12, 2009
Filing Date:
October 04, 2006
Export Citation:
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Assignee:
KUKA ROBOTER GMBH
International Classes:
B25J9/10; G05B19/404
Domestic Patent References:
JPH0252172A1990-02-21
JPH03166086A1991-07-18
JP2005135278A2005-05-26
JPH08272425A1996-10-18
JP2000263273A2000-09-26
Attorney, Agent or Firm:
Kuro Fukami
Toshio Morita
Yoshihei Nakamura
Yutaka Horii
Hisato Noda
Masayuki Sakai
Nobuo Arakawa



 
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