3個のレーザ変位センサで実現したロボットアームの高精度自動キャリブレーション

概要

論文の詳細を見る
Recently, not only repeatability but also absolute accuracy began to be required with regard to the positioning accuracy of a robot arm. That is mainly because the absolute positioning accuracy of a robot arm is becoming necessary in applying such technologies practically as robot sensors which measure the three dimensional position and posture of an object or the offline programming system etc. In this paper, an automatic calibration method which uses a simple sensor comprising three laser displacement sensors and a unique argorithm to compensate for the measured data is described. This method will promote to make automatic calibration of a robot arm practical because it proved to bring high accuracy irrespective of low cost of the sensor.