Title:
能動型磁気軸受上に装着されたロボットを較正するための方法
Document Type and Number:
Japanese Patent JP2014520398
Kind Code:
A
Abstract:
Method for calibrating a robot mounted on active magnetic bearings and having a gripper vertically positionable along a z axis and which is displaceable in a first magnetic bearing along an x axis and in a second magnetic bearing along a y axis includes dividing the first and second magnetic bearings into four mounting points; defining the setpoint center coordinates for the X, Y, Z axes and also the setpoint values for the angular positions delta, epsilon and transformation of the setpoint values into setpoint values for the vertical setpoint positions of the mounting points; specifying the actuating forces for the electromagnets of the mounting points; determining the current vertical positions for the mounting points; measuring the current vertical position of the mounting points and conversion into actual center coordinates; comparing the actual center coordinates with the setpoint center coordinates, determining the deviation and repeating the preceding steps.
Inventors:
Oldendorf Ulrich
Application Number:
JP2014516301A
Publication Date:
August 21, 2014
Filing Date:
June 19, 2012
Export Citation:
Assignee:
ゼミレフ gesellschaft Mytho ベシュレンクテル ハフツング
International Classes:
H01L21/677; B25J9/10; F16C32/04
Attorney, Agent or Firm:
Mitsufumi Ezaki
Minoru Kajisawa
Ryota Imamura
Junji Shinohara
Kiyota 栄章
Minoru Kajisawa
Ryota Imamura
Junji Shinohara
Kiyota 栄章