Title :
An Optical Measurement System for High Accuracy Positioning of Robots
Author :
Quick, G. ; Müller, P.C.
Author_Institution :
Safety Control Engineering, University of Wuppertal, GauÃ\x9fstr. 20, D-5600 Wuppertal 1, FRG
Abstract :
This paper describes a system for high accuracy measurement of robot axis position using CCD image sensors and a set of laser-beams driven by an additional motor. The system works during normal operation such that the measurements can be used for axis control. The principle is explained on a single flexible link. With the given system of sensors and control, it is possible to realize a robot with high absolute positional accuracy.
Keywords :
Charge-coupled image sensors; Control systems; Error correction; Laser beams; Laser feedback; Position measurement; Robot kinematics; Robot sensing systems; Robotics and automation; Service robots;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
