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

这项研究使用最新可用的“室内GPS”(IGPS)技术，从参数描述(尺寸、顺应性等)生成准确的机器人参考模型。其“竣工”部件(执行器、连接件等)。新的计量系统使用红外线变送器，并具有足够的精度来参数描述均匀高精度的系统。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。一旦知道了这些参数，它们就可以用来填充一个开发的模型，使得以前只能在艰苦的示教位置才能获得机械手的精度解决方案。这种发展使开放式制造单元(1米、3米和10米立方体)的构建成为可能。IGPS和参考模型将用于在组装时(即按需)“校准”电池，并保持电池的精确度，防止因维修、升级、老化、温度等原因造成的漂移。这种系统允许灵活制造、快速维修和升级，但这些好处尚未实现。一个重要的障碍是在目标(实际)帧和目标(理想)帧之间存在误差。虽然典型机器人的重复性(返回到示教点)可以达到0.005“，但由于配置、负载、模型误差等原因，其精度(命令到新点)可能不会好于0.1”。目前，示教机器人设备是在维修、升级和工艺更改后所需的一个耗时的过程。但如果没有教学，精度还不足以进行所需的高精度运算。这一事实胜过了模块化技术的好处。但iGPS技术与执行器计量相结合的使用可能会导致接近重复性的精度水平，并消除这一技术障碍。

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.