Metrology-integrated industrial robots: calibration, implementation and testing
2004 (English)In: Proceedings of the 35th ISR (International Symposium on Robotics), 2004Conference paper (Other academic)
This paper presents integration of a metrology system and an industrial robot. The metrology system consists of a laser tracker that measures the distance to a prism with high accuracy and a camera that through photogrammetry measures the orientation of a reflector. Both laser prism and camera reflector is integrated to a 6D-Reflector that is attached close to the TCP of an industrial robot. Tracker and robot is connected to a PC on a TCP/IP network. The PC takes measurements with the tracker, and thereby compensates the robot to reach high absolute accuracy in the robot positioning (+/-50 μm). The 6D-Reflector has multi-functionality and simplifies calibration procedures. This paper explains the architecture of the system and the methods for calibration.
Place, publisher, year, edition, pages
Metrology, laser, photogrammetry, robot, online control, calibration
Production Engineering, Human Work Science and Ergonomics
IdentifiersURN: urn:nbn:se:liu:diva-73380OAI: oai:DiVA.org:liu-73380DiVA: diva2:471369
35th ISR International Symposium on Robotics, 23-26 March, Paris, France