Measurement of positional information for a robot arm

Details Measurement of positional information for a robot arm Measurement of positional information for a robot arm

G - Physics

01

S

G01S 5/16 (2006.01) B25J 19/02 (2006.01)

Patent

CA 2751878

Positional measurements for a robot arm are made using a light ray projector (10) mounted on the robot arm and arranged to emit light rays (50) along a multiplicity of distinct paths that are fixed relative to the projector (10), and a removable support frame (20) carrying a multiplicity of image sensors (22) at fixed positions relative to the support frame (20), the support frame surrounding the base of the robot arm. A signal processor (25) connected to the light sensors (22) determines the positions at which light rays (50) are incident on the image sensors (22), and hence determines positional information of a system of axes associated with the projector (10) relative to the frame (20). This enables relative positional measurements to be made substantially in real time, and in an accurate and cost- effective manner.

L'invention concerne des mesures de position d'un bras robotisé. Ces mesures sont effectuées au moyen d'un projecteur de rayons lumineux (10) monté sur le bras robotisé et agencé pour émettre des rayons lumineux (50) le long de plusieurs trajets distincts qui sont fixes par rapport aux projecteurs (10) et d'une structure de support amovible (20) portant plusieurs capteurs d'images (22) à des positions fixes par rapport à la structure de support (20), la structure de support entourant la base du bras robotisé. Un processeur de signal (25) connecté aux photodétecteurs (22) détermine les positions où les rayons lumineux (50) sont incidents sur les capteurs d'images (22) et donc détermine des informations de position d'un système d'axes associés au projecteur (10) par rapport à la structure de support (20). Ceci permet d'effectuer des mesures de position relative pratiquement en temps réel et d'une manière précise et économique.

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