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Disclosed is a portable articulated measurement device which improves the accuracy of robot performance measurements.
English (United States)
This text was extracted from a PDF file.
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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
In operation the device is placed so that one LAT cell is under the robot end