Real-Time Calibration Techniques for Robots

已经找到了一个原型位置和方向传感器（POSE）来测量机器人末端执行器的位置和方向，其线性精度为10-3英寸，旋转精度为0.5毫弧度。在这个小企业创新研究（SBIR）计划的第二阶段项目中，进一步的研究集中在(1)机器人关节间隙的测量和校正以及(2)机器人在其工作空间中的夹具的自动重新校准。该传感器具有(1)一个中空的立方体基座夹具，其中三个面各有两个准直光束投影仪和一个光敏半导体器件，(2)安装在机器人手上的光反射夹具，以及(3)一台用于数据处理的计算机。POSE技术通过提高机器人操作的精度，减少“教授”和“重新教授”机器人任务的时间，具有提高制造生产率的潜力。

A prototype position and orientation sensor (POSE) has been found to measure position and orientation of a robot end effector with a linear accuracy of 10-3 inches and a rotational accuracy of 0.5 milliradians, respectively. In this Small Business Innovation Research (SBIR) program Phase II project further research focuses on (1) measurement and correction of backlash in robot joints and (2) automatic recali-bration of the robot to fixtures in its work space. The sensor has (1) a hollowed-out-cube base fixture with two collimated light beam projectors and a light-sensitive semiconductor device on each of three faces, (2) a light reflective fixture mounted on the robot hand, and (3) a computer for date processing. The POSE technology has potential for higher manufacturing productivity through increased precision in robotic manipulation and decreased time to "teach" and "reteach" robot tasks.