An Approach to Measurement of Position and Orientation of Robot

摘要

A measurement system was designed for robot calibration to meet the requirement of off-line programming technique. The position and orientation of robot end-effector can be calculated indirectly by using this measurement setup. The setup is composed of three linear rolling guides that move in three-dimensional workspace. The measurement sensor is a specially designed mechanical fixture employing three digital dial gauges that distribute perpendicularly each other to perform measurement of target points. The setup has been applied to RHJD4-1 arc welding robot. The experimental results show the measurement of position and orientation is simple and reliable to complete pose measurement for robot calibration.