Sensors and Sensor Networks: Indoor Global Positioning System (GPS) Sensor Application to Actuator Metrology and Automated Manufacturing Workcell Calibration

传感器和传感器网络：室内全球定位系统 (GPS) 传感器在执行器计量和自动化制造工作单元校准中的应用

• 批准号: 0330325
• 负责人: Delbert Tesar
• 金额: $ 25万
• 依托单位: University of Texas at Austin
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-09-01 至 2006-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0330325&HistoricalAwards=false
• 关键词: Sensors; Sensor; Networks; Indoor; Global

This research uses newly available "indoor GPS" (iGPS) technology togenerate an accurate robotic reference model from a parametricdescription (dimensions, compliance, etc.) of its "as-built" components(actuators, links, etc.). The new metrology system uses infraredtransmitters and has sufficient accuracy to parametrically describe evenhigh precision systems. Completing the initial model requires theconstruction of a 2 meter cube high-precision sensor network. Once theparameters are known, they can be used to populate a developed modelallowing manipulator accuracy resolution previously attainable only atlaboriously taught locations. This development then allows for theconstruction of open architecture manufacturing cells (1, 3, and 10meter cubes). The iGPS and reference model will be used to "calibrateas assembled" (i.e. on demand) and maintain the cell preventing accuracydrift due to repair, upgrade, aging, temperature, etc. The benefits of modular robots are clear. Such systems allow flexiblemanufacturing, rapid repair, and upgrade, but these benefits have yet tobe realized. A significant barrier is the presence of error between thetool (actual) frame and goal (ideal) frame. While the repeatability(returning to a taught point) of a typical robot can be 0.005", itsaccuracy (commanded to a new point) may not be better than 0.1" due toconfiguration, load, model error, etc. Currently, teaching a roboticdevice is a time-consuming process required after repair, upgrade, andprocess change. But the accuracy is not sufficient to perform therequired high-precision operations without teaching. This fact trumpsother modular technology benefits. But the use of iGPS technology intandem with actuator metrology could lead to accuracy levels close torepeatability and remove this technological barrier.

这项研究使用新的“室内GPS”（iGPS）技术，从参数描述（尺寸，顺应性等）中生成精确的机器人参考模型。其“竣工”部件（执行器、连杆等）的完整性。 新的计量系统使用红外发射器，并有足够的精度参数描述甚至高精度系统。完成初始模型需要构建一个2米立方体的高精度传感器网络。 一旦参数是已知的，它们可以用来填充一个发达的模型，允许机械手精度分辨率以前只能达到在费力的教导位置。 这一发展，然后允许开放式建筑制造单元（1，3，和10米立方体）的建设。 iGPS和参考模型将用于“校准组装”（即按需）和维护单元，防止由于维修、升级、老化、温度等原因造成的精度漂移。 这种系统允许灵活的制造、快速的维修和升级，但这些好处还没有实现。 一个重要的障碍是工具（实际）框架和目标（理想）框架之间存在误差。虽然典型机器人的可重复性（返回到示教点）可以是0.005”，但由于配置、负载、模型误差等原因，其精度（命令到新点）可能不会优于0.1”。 但是，在没有示教的情况下，精度不足以执行所需的高精度操作。这一事实胜过其他模块化技术的好处。 但是，使用iGPS技术与致动器计量可以导致接近可重复性的精度水平，并消除这一技术障碍。