Real-Time Calibration Techniques for Robots

一个原型位置和方向传感器（POSE） 已经发现测量机器人末端的位置和方向 具有10-3英寸的线性精度和旋转精度的效应器 精度分别为0.5毫弧度。 在这个小 商业创新研究（SBIR）计划第二阶段项目 进一步的研究集中在（1）测量和校正 机器人关节间隙和（2）自动重新校准 将机器人固定在其工作空间中。 传感器具有（1）中空立方体底座固定装置， 两个准直光束投影仪和一个光敏 在三个面上的每一个上的半导体器件，（2）光 安装在机器人手上的反射固定装置，以及（3） 计算机数据处理。 POSE技术 提高制造生产力的潜力， 提高机器人操作的精度，缩短时间 来“教”和“再教”机器人任务。

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.