超音波によるロボットの3次元位置・姿勢計測(第4報) : 動的位置計測システムの開発と実際のロボットの静的・動的位置計測

概要

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A simple and economical ultrasonic measuring system of 3-D position and orientation of a robot has been proposed, and its accuracy is proved to be better than ±0.3mm in each X, Y, Z coordinate in the previous report. This system is based on distance measurement between transmitters attached to a robot arm and receivers placed around the robot working space. In this report the effectiveness of this system for the static and dynamic position measurement of a practical robot is experimentally investigated. An automatic tracking system, which predicts the next transmitting position and controls rotational angle of each receiver so as that its receiving plane faces up to the transmitter without delay, is proposed. The static positions of a 6-DOF articulated robot (PUMA robot) are measured and the obtained error distribution is similar to that obtained by a high precision laser tracking system. Kinematic parameters of a SCARA robot are calibrated and the positioning accuracy is improved. The dynamic positions of a PUMA robot on linear and cornering paths are measured and the obtained trajectories coincide fairly with these obtained by a laser tracking system and these by a pen drawing. From these results, it is experimentally proved that this system has good potential to estimate the static and dynamic performance characteristics of a robot such as positioning accuracy, path accuracy, etc.
2001-09-05