公开(公告)号：WO2008107715A2

公开(公告)日：2008-09-12

申请号：PCT/GB2008050146

申请日：2008-03-03

Applicant: ABSOLUTE ROBOTICS LTD ,  DEMOPOULOS ANDREAS HARALAMBOS

Inventor： DEMOPOULOS ANDREAS HARALAMBOS

IPC: B25J9/00

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。

公开(公告)号：WO2008107715A3

公开(公告)日：2008-09-12

申请号：PCT/GB2008/050146

申请日：2008-03-03

Applicant: ABSOLUTE ROBOTICS LIMITED ,  DEMOPOULOS, Andreas, Haralambos

Inventor： DEMOPOULOS, Andreas, Haralambos

IPC: G01B9/02

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.

公开(公告)号：WO2010094949A1

公开(公告)日：2010-08-26

申请号：PCT/GB2010/050249

申请日：2010-02-16

Applicant: ABSOLUTE ROBOTICS LIMITED ,  DEMOPOULOS, Andreas, Haralambos

Inventor： DEMOPOULOS, Andreas, Haralambos

IPC: G01S5/16 ,  B25J19/02

CPC classification number: G01S1/70 ,  B25J9/1692 ,  G01S5/163 ,  G05B2219/37571 ,  G05B2219/40611 ,  G05B2219/40613 ,  G05B2219/40623

Abstract: Positional measurements for a robot arm are made using a light ray projector (10) mounted on the robot arm and arranged to emit light rays (50) along a multiplicity of distinct paths that are fixed relative to the projector (10), and a removable support frame (20) carrying a multiplicity of image sensors (22) at fixed positions relative to the support frame (20), the support frame surrounding the base of the robot arm. A signal processor (25) connected to the light sensors (22) determines the positions at which light rays (50) are incident on the image sensors (22), and hence determines positional information of a system of axes associated with the projector (10) relative to the frame (20). This enables relative positional measurements to be made substantially in real time, and in an accurate and cost- effective manner.

Abstract translation: 机器人手臂的位置测量使用安装在机器人手臂上的光线投影仪（10）进行，并且布置成沿着相对于投影仪（10）固定的多个不同的路径发射光线（50），并且可拆卸 支撑框架（20），其在相对于所述支撑框架（20）的固定位置处承载多个图像传感器（22），所述支撑框架围绕所述机器人手臂的基部。 连接到光传感器（22）的信号处理器（25）确定光线（50）入射到图像传感器（22）上的位置，因此确定与投影仪（10）相关联的轴系的位置信息 ）相对于框架（20）。 这使得能够基本上实时地以准确和成本有效的方式进行相对位置测量。