Applied Laser Array to the tool End-effector Position Measurement for a Robot Arm

• Main Authors: Wei-Chi Ke, 柯維棋
• Other Authors: 劉建宏
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/70825388463302978340

碩士 === 國立中興大學 === 機械工程學系所 === 105 === The optoelectronic measurement system developed in this study contains a laser array architecture comprising six laser diodes and six optical position sensors to measure the three-dimensional space coordinates of robot end effectors. The principle involves changing amount of laser energy that the sensors can detect by intercepting the lasers with rods and then using the difference to calculate the spatial coordinates of the robot end effector. This study implemented the positioning error measurement of a robotic arm in the measurement system with nine measurement positions. Using the same positions, we also conducted precise drift measurements and proposed a novel technique to measure the deviation in the attitude angles of robotic arms. This system is easy to set up and offers a low-cost approach for measurement with no expensive accessories. Its accuracy for three-axial tool-end measurement is up to 10 μm, and it has a measurement resolution of 1 μm.