Calibrating robot arm - adjusting theoretical estimates to match real co-ordinates measured from laser beam intersection with plane

摘要

Arranged near the robot arm(10) is a referenced measuring plane (M). A laser source (24) is fitted to the robot arm and the robot is moved to several positions where the laser intercepts the measuring plane. The real points of intersection (xM(k), yM(k)) of the laser beam with the plane are noted as well as the corresponding articular values ((k)) of the robot. These are used to determine the vector function (F) connecting the theoretical co-ordinates (xMt(k), yMt(k)) with the points of intersection of the articular variables ((k)) and with the estimated parameters (p, p',p) linked to the robot and to relative positions with respect to the laser beam and the measuring plane. The estimated parameters are adjusted so as to move the theoretical co-ordinates towards the actual noted co-ordinates. ADVANTAGE - Enables calibration to be carried out in short time with the minimum amount of equipment.