A CABLE-BASED DISTANCE DETECTOR AND A SYSTEM BASED ON IT FOR GENERATING ROBOT CALIBRATION DATA

摘要

A cable-based distance detector comprises a winding drum (101) for winding a cable, a torque generator (102) for directing torque to the winding drum so as to retract the cable, a measurement drum (103) configured to be rotated by the cable when the cable is wound in by the winding drum or wound off from the winding drum, and an encoder connected to the measurement drum and producing an en- coder signal indicative of revolutions of the measurement drum and the length of the portion of the cable wound in or off. As there is the separate measurement drum, the measurement is more accurate than in cases where revolutions of the winding drum are measured because different turns of the cable on the winding drum may have different lengths. The cable-based distance detector is suitable for a system for generating calibration data for a robot.