Browse Prior Art Database

Contouring Accuracy Measurement Scheme for Robotic Manipulators

IP.com Disclosure Number: IPCOM000043388D
Original Publication Date: 1984-Aug-01
Included in the Prior Art Database: 2005-Feb-04
Document File: 2 page(s) / 37K

Publishing Venue

IBM

Related People

Birk, MJ: AUTHOR [+3]

Abstract

This article describes a technique for measuring the path deviation of a robotic manipulator executing a multi-dimensional coordinated move. A coordinated move in an X, Y, Z coordinate system means that the manipulator's end of arm effector (EOAE) will travel in a straight line between two points. Referring to Fig. 1, an instrument is shown comprising a commercially available silicon photodetector 1 mounted on an EOAE 2 of a robotic manipulator 3. A narrow beam of light 4 from a light source 5, such as a laser, is aimed so that it strikes the photodetector 1 at selected starting and finishing points of a programmed robotic move. The photodetector 1 has its own X-Y coordinates and is perpendicular to the light beam 4.

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Contouring Accuracy Measurement Scheme for Robotic Manipulators

This article describes a technique for measuring the path deviation of a robotic manipulator executing a multi-dimensional coordinated move. A coordinated move in an X, Y, Z coordinate system means that the manipulator's end of arm effector (EOAE) will travel in a straight line between two points. Referring to Fig. 1, an instrument is shown comprising a commercially available silicon photodetector 1 mounted on an EOAE 2 of a robotic manipulator 3. A narrow beam of light 4 from a light source 5, such as a laser, is aimed so that it strikes the photodetector 1 at selected starting and finishing points of a programmed robotic move. The photodetector 1 has its own X-Y coordinates and is perpendicular to the light beam 4. The photodetector puts out voltages corresponding to the X-Y coordinates of the light beam shining on the photodetector. As illustrated in Fig. 2, these voltage outputs are used to create a trace of the deviation from a straight-line path as the manipulator 3 travels between the starting and finishing points. The deviation is measured without making physical contact so that the natural movement of the manipulator is unaffected.

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