Calibration system for compensation of arm length variation of a

Details Calibration system for compensation of arm length variation of a Calibration system for compensation of arm length variation of a

1994-07-27

1995-03-28

Raevis, Robert

Measuring and testing

Instrument proving or calibrating

Volume of flow, speed of flow, volume rate of flow, or mass...

B25J 100

Patent

active

054006384

ABSTRACT:
A calibration system for compensating variation of robot arm length of an industrial robot because of temperature change. The system comprises a temperature variation insensible calibration jig having a pair of rectangular hexahedrons of different sizes which are combined with each other above and below and have a plurality of measuring points marked thereon. A noncontact sensor unit relatively measures a teach-in measuring point of the calibration jig and compares the measured value of the teach-in point with initially inputted value thereof, thereby calculating the variation of the robot arm length caused by the temperature change. The noncontact sensor unit includes a camera for measuring a center of the teach-in measuring point and a laser displacement sensor (LDS) for measuring relative distance between the robot hand and the teach-in measuring point and sensing three-dimensional relative error. The arm length variation is calculated, using differential value between the initially inputted value and the measured value of the teach-in measuring point, in accordance with the method of least squares.

REFERENCES:
patent: 4668157 (1987-05-01), Kato et al.
patent: 4685054 (1987-08-01), Manninen et al.
patent: 4932136 (1990-06-01), Schmitz et al.
patent: 5125261 (1992-06-01), Powley
patent: 5198876 (1993-03-01), Anezaki et al.

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