Title :
Non-contact coordinate measurements for robotic manipulators using laser tracking systems
Author :
Er, M.J. ; Chang, S.B. ; Huang, C.S. ; Wu, S.
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
Laser Tracking Systems (LTSs) are adopted as high accuracy instruments to measure robot performances such as repeatability and accuracy. In this paper, a LTS is used as a sensor to measure the three-dimensional coordinates of the end-effector, estimate the link lengths, check the parallelity and perpendicularity between axes and calibrate the home positions of a robotic manipulator. In addition, by using the LTS as a position sensor, through feedback compensation, we can drive the end-effector of the robotic manipulator towards the target. Experimental results show that the proposed control system can achieve precise positioning accuracy for a robot with or without an accurate model.
Keywords :
compensation; end effectors; feedback; position control; sensors; LTS; end effector; feedback compensation; laser tracking system; noncontact coordinate measurement; position sensor; positioning accuracy; robot accuracy; robot performance; robot repeatability; robotic manipulator; Coordinate measuring machines; Joints; Manipulators; Optimized production technology; Robot kinematics; Robot sensing systems;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5