29 November 1993 Optical setup for assembly robot characterization
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Proceedings Volume 2063, Vision, Sensors, and Control for Automated Manufacturing Systems; (1993) https://doi.org/10.1117/12.164962
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States
Abstract
The paper deals with the subject of robot calibration. With particular reference to assembly robots, a brief introduction of the mathematical approach to the problem is presented. It is shown that two independent type of measurements can be carried out to obtain data for calibration. A first optical set-up is used to measure robot gripper orientations along straight trajectories. The system is based on laser triangulation. A second set-up is used to measure X,Y,Z position of the robot gripper programmed to follow a number of proper straight trajectories. The paper also presents some experimental results from the calibration of a commercial SCARA robot.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Umberto Minoni, Franco Docchio, Rodolfo Faglia, Giovanni Legnani, Pier Luigi Magnani, "Optical setup for assembly robot characterization", Proc. SPIE 2063, Vision, Sensors, and Control for Automated Manufacturing Systems, (29 November 1993); doi: 10.1117/12.164962; https://doi.org/10.1117/12.164962
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