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FREMGANGSMAATE FOR AUTOMATISK KALIBRERING OG KOMPENSERING AV EN ROBOTGRIPER I ALLE FRIHETSGRADER, SAMT ANORDNING FORUTFOERELSE AV FREMGANGSMAATEN.
FREMGANGSMAATE FOR AUTOMATISK KALIBRERING OG KOMPENSERING AV EN ROBOTGRIPER I ALLE FRIHETSGRADER, SAMT ANORDNING FORUTFOERELSE AV FREMGANGSMAATEN.
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机译:在所有自由度下自动校准和补偿机械手的程序,以及程序的布置性能。
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摘要
A system for automatically calibrating a robot in all degrees of freedom in one point to compensate for inaccuracies in the different coordinate directions. The system includes moving a measuring body, held by the robot gripper, in response to a command representative of a previously determined nominal position within a measuring fixture known to the robot controller, determining by means of sensing means the actual position reached by said measuring body, calculating the errors in the different coordinate directions based on the measured values and the nominal position values and compensating for the errors in respective coordinate directions.
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