Video Test Tool for Robotics Accuracy/Repeatability
Original Publication Date: 1983-Sep-01
Included in the Prior Art Database: 2005-Feb-07
A provision is made for very precise measurements of a robot's arm accuracy and repeatability within its work envelope by reducing the test site to a workable size. The measurement is done within a small cube by cameras having an interposed grid for measuring a needle position carried by the gripper. A work envelope is a defined volume in space to which a robot manipulator restricts its movements, as shown in the figure. Manipulator control programs determine positioning, speed and acceleration of the gripper with respect to the work envelope. The criteria behind an accuracy/repeatability test tool is to provide a very precise measurement of the X, Y, Z coordinates of the gripper within the work envelope and compare the readings of the desired location with those of the actual location.