Robot components position measurement - involves marks on components which are picked up by T.V. cameras and analysed by computer

摘要

The marks on the components of the arm of the robot are in a binary code and consist of a series of accurately printed or painted bright and dark lines; in addition to the masks on the various components diagrams are applied e.g. a square, which allow the computer to make an easy analysis of the position of the components. The marks and symbols printed on the robot component emit light of a given wavelength, which may be filtered out in the t.v. camera objective. The robot arm is operated in a room or a limited space, and the t.v. cameras monitoring its movement are placed around it.