公开(公告)号：US08290618B2

公开(公告)日：2012-10-16

申请号：US12528742

申请日：2008-03-03

Applicant: Andreas Haralambos Demopoulos

Inventor： Andreas Haralambos Demopoulos

IPC: G01B11/14

CPC classification number: B25J9/1692

Abstract: The position of a movable element such as the end of a robot arm (10) which has several degrees of freedom, being mounted on a base (11) and including a wrist mechanism, is determined by installing a multiplicity of base targets (32, 74) around the base of the robot, and a multiplicity of arm targets (42, 74) around the base (14) of the wrist mechanism (15), and an optical means (90) that moves with the movable element to determine the positions of at least some of the base targets and of at least some of the arm targets. The optical means may be a laser tracker or a camera system (90), and it may be mounted on the part (13) of the robot arm to which the base (14) of the wrist mechanism (15) is connected. This enables existing robots (10) to achieve absolute positional accuracy relative to a fixed external frame of reference.

Abstract translation: 通过安装多个基准目标（32,32）来确定诸如具有几个自由度的机器人手臂（10）的端部安装在基座（11）上并包括手腕机构的可移动元件的位置， 74）围绕机器人的基部以及围绕手腕机构（15）的基部（14）的多个手臂目标（42,74），以及光学装置（90），其与可移动元件一起移动以确定 至少一些基准目标和至少一些手臂目标的位置。 光学装置可以是激光跟踪器或相机系统（90），并且其可以安装在机械臂的与腕机构（15）的基座（14）连接的部分（13）上。 这使得现有的机器人（10）相对于固定的外部参考系来实现绝对的位置精度。