Optical setup for assembly robot characterization

Umberto Minoni; Franco Docchio; Rodolfo Faglia; Giovanni Legnani; Pier Luigi Magnani

doi:10.1117/12.164962

29 November 1993 Optical setup for assembly robot characterization

Umberto Minoni, Franco Docchio, Rodolfo Faglia, Giovanni Legnani, Pier Luigi Magnani

Proceedings Volume 2063, Vision, Sensors, and Control for Automated Manufacturing Systems; (1993) https://doi.org/10.1117/12.164962
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

The paper deals with the subject of robot calibration. With particular reference to assembly robots, a brief introduction of the mathematical approach to the problem is presented. It is shown that two independent type of measurements can be carried out to obtain data for calibration. A first optical set-up is used to measure robot gripper orientations along straight trajectories. The system is based on laser triangulation. A second set-up is used to measure X,Y,Z position of the robot gripper programmed to follow a number of proper straight trajectories. The paper also presents some experimental results from the calibration of a commercial SCARA robot.

Citation Download Citation

Umberto Minoni, Franco Docchio, Rodolfo Faglia, Giovanni Legnani, and Pier Luigi Magnani "Optical setup for assembly robot characterization", Proc. SPIE 2063, Vision, Sensors, and Control for Automated Manufacturing Systems, (29 November 1993); https://doi.org/10.1117/12.164962

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