G - Physics – 01 – B
Patent
G - Physics
01
B
G01B 5/016 (2006.01) B25J 9/16 (2006.01) G01B 5/00 (2006.01) G01B 5/008 (2006.01) G01B 5/20 (2006.01) G01B 21/04 (2006.01) G05B 19/42 (2006.01) G06F 3/033 (2006.01) G06T 15/00 (2006.01)
Patent
CA 2228587
A method for calibrating a probe apparatus includes positioning a probe such that a known point on the probe is located at an arbitrary location within a selected volume with respect to a support base of the probe apparatus. The orientation of the probe is varied to move a plurality of joints of a mechanical linkage assembly coupled to the probe while maintaining the known point on the probe at the arbitrary location. Sets of data are sampled at a plurality of orientations of the probe as the orientation of the probe is varied about the arbitrary location. The sets of data are provided by sensors and describe different configurations of angles of the joints. Spatial coordinates for the known point on the probe are determined at each of the plurality of orientations of the probe. An error value between the spatial coordinates determined for each of the plurality of orientations is determined. The accuracy of positioned and orientation data provided by the probe apparatus is increased by determining calibration parameters based on the error values. The calibration parameters are used when determining the position and orientation of the probe in normal usage.
La présente invention concerne un procédé et un appareil permettant de faire des mesures de coordonnées tridimensionnelles (3-D). L'invention permet de numériser un objet tridimensionnel sous forme de représentation maillée manipulable par un système informatique (18) par suivi du stylet d'un palpeur (22) parcourant les surfaces de l'objet. Le palpeur est constitué d'un bras comportant une succession de liaisons et d'articulations. On assemble le bras en plaçant les articulations du bras dans des fixations d'articulation selon l'espacement et l'angle voulus, puis en assujettissant à une liaison les articulations. Pour étalonner le palpeur on place la pointe du stylet (22) en un point arbitraire du volume de travail et on fait varier l'orientation de celui-ci de façon à déterminer des valeurs d'erreur et les paramètres d'étalonnage. Pour déterminer le zéro des capteurs du palpeur, il suffit de placer le palpeur dans la seule position de début possible puis d'affecter des angles de début implicites aux sondes.
Brave Scott B.
Jackson Bernard G.
Rosenberg Louis B.
Schena Bruce M.
Immersion Corporation
Immersion Human Interface Corporation
Sim & Mcburney
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