Calibration system and displacement measurement device
AssigneeDynalog, Inc.
InventorPierre De Smet
Life of this patent
Estimating the term…
Abstract
An improved system (20) for the calibration of a robot system. The system (20) comprising a linear displacement measurement device (32) in conjunction with a robot calibration system. The linear displacement measurement device (32) comprising an elongated member (34), a drum, a shaft, a drum displacement mechanism and a drum rotation sensor. The drum is displaced axially upon the shaft as the drum rotates when the elongated member (34) is moved. The drum rotation sensor provides accurate information regarding the distance the elongated member (34) travels. The displacement measuring device (32) is used in an iterative manner with the calibration system (20) for the purpose of the calibration of a robotic device (22).
Claims9
A displacement measuring device for a robot having an end-point, said measuring device comprising;
- a housing;
- an elongate shaft mounted within said housing;
- a drum having a central axis, a central throughhole extending along said central axis through said drum and capable of accepting the shaft, the drum being mounted on the shaft and the drum having a generally cylindrical outer surface;
- a elongate member having a fixed width, a first end and a second end, the first end attached to the outer surface of the drum and the second end attached to the end-point, the elongate member being coilable about the drum;
- displacement means for displacing the drum in a direction along said central axis relative to the coiling of the elongate member about the drum thereby preventing the elongate member from overlapping itself;
- and
- rotation measuring means for measuring the rotation of the drum about the drum central axis, whereby the rotation of the drum is translated into the linear displacement of the elongate member and thusly the distance from the measuring device to the end-point.
A calibration system for a robot having predetermined parameters and an end-point, comprising:
- a housing;
- an elongate shaft mounted within said housing;
- a drum having a central axis, a central throughhole extending along said central axis through said drum and capable of accepting the shaft, the drum being mounted on the shaft and the drum having a generally cylindrical outer surface;
- a elongate member having a fixed width, a first end and a second end, the first end attached to the outer surface of the drum and the second end attached to the end-point, the elongate member being coilable about the drum;
- displacement means for displacing the drum in a direction along said central axis relative to the coiling of the elongate member about the drum thereby preventing the elongate member from overlapping itself;
- rotation measuring means for measuring the rotation of the drum about the drum central axis;
- a means for determining the displacement of the elongate member, and
- a robot calibration means.
Dependencies are inferred from the claim text.