Browse Prior Art Database

Articulated Measuring Device for Robot Performance Measurements

IP.com Disclosure Number: IPCOM000035775D
Original Publication Date: 1989-Aug-01
Included in the Prior Art Database: 2005-Jan-28
Document File: 2 page(s) / 31K

Publishing Venue

IBM

Related People

Hammer, R: AUTHOR

Abstract

Disclosed is a portable articulated measurement device which improves the accuracy of robot performance measurements.

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Articulated Measuring Device for Robot Performance Measurements

Disclosed is a portable articulated measurement device which improves the accuracy of robot performance measurements.

To characterize the performance of robots, knowledge of the robot's end effector motion at the start and finish of a move is needed. The distance between the end points is needed to determine average speed. The present device automatically provides an accurate distance measurement between the two points as well as acceleration, deceleration and overshoot at the start and end point. The device consists of arms with rotary encoders at the joints and lateral affect transducer (LAT) cells mounted at the distal ends. The device is shown in Fig. 1.

The LAT cells have submicron resolution over an active area of approximately 1 cm2 . The rotary encoders mounted in the joints of the device provide angular position of the segments. From these angles and the known length of the segments, the distance between the two LAT cells can be computed. The distance between the two LAT cells can be determined with a resolution of .015" from commercially available encoders. An interface box conditions the outputs of the two LAT cells and the angle encoders. The box also supplies the sensors with the required supply voltages. The output from the interface box is fed to a portable computer which performs the necessary computation.

In operation the device is placed so that one LAT cell is under the robot end e...