METHOD AND APPARATUS FOR COMPENSATING NON-GEOMETRIC ERROR INFLUENCES ON ROBOT ABSOLUTE ACCURACY USING A LASER SENSOR SYSTEM
개요
발명자
Peter Kovács
IPC 분류
CPC 분류
A method for compensating non-geometric error influences on the absolute accuracy of a robot using a laser sensor system includes projecting at least one radiation pattern through the workspace, and selecting the measurement configurations such that, for at least one elasticity element, there is at least one pair of measurement configurations in which the absolute value of the difference in torques acting on the at least one elasticity element is greater than a threshold value. A deviation on a light-sensitive surface of at least one sensor) from a straight line and/or plane, which is implicitly defined by the radiation pattern, its direction and orientation, is taken into account by comparing the measured projection position with a calculated projection position based on faulty robot structure information. The corrected robot structure information is then derived to compensate for the non-geometric error influences.
원문 (중국어)
A method for compensating non-geometric error influences on the absolute accuracy of a robot using a laser sensor system includes projecting at least one radiation pattern through the workspace, and selecting the measurement configurations such that, for at least one elasticity element, there is at least one pair of measurement configurations in which the absolute value of the difference in torques acting on the at least one elasticity element is greater than a threshold value. A deviation on a light-sensitive surface of at least one sensor) from a straight line and/or plane, which is implicitly defined by the radiation pattern, its direction and orientation, is taken into account by comparing the measured projection position with a calculated projection position based on faulty robot structure information. The corrected robot structure information is then derived to compensate for the non-geometric error influences.