1A1-E06 レーザー距離計を用いたアームとワークの相対取り付け位置キャリブレーション(作業をするロボット)

概要

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This paper propose the calibration technique that is needed when the manipulator is installed. In our laboratory, we showed the calibration technique that is a relative position of arm and work calibrated by touching the probe installed in the point of the arm to the working work. In my study propose the calibration technique that installed the laser range finder in the point of the arm, and measuring a relative position of work and arm without touching the arm with work. It is thought that precise work can be done by doing my calibration technique, because doing calibration by noncontact it becomes shortening the time of calibration and doing calibration to working work not only installation but also working.
一般社団法人日本機械学会の論文
2011-05-26