A cable-based distance detector and a system based on it for generating robot calibration data

A technology of robots and detectors, applied in general control systems, control/regulation systems, chains for measuring length, etc.

Inactive Publication Date: 2016-12-14
LAPPEENRANNAN TEKNILLINEN YLIOPISTO
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  • Abstract
  • Description
  • Claims
  • Application Information

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The challenges of this approach are related to the need to m

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  • A cable-based distance detector and a system based on it for generating robot calibration data
  • A cable-based distance detector and a system based on it for generating robot calibration data
  • A cable-based distance detector and a system based on it for generating robot calibration data

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Embodiment Construction

[0035] Figure 1a and Figure 1bshows a schematic illustration of a cable-based distance detector suitable for use in generating kinematic parameters indicative of a robot according to an exemplary and non-limiting embodiment of the present invention. Inaccuracy of biased data systems. The wire based distance detector comprises a winding drum 101 for winding a wire 110 and a torque generator 102 for inducing torque to the winding drum for retrieving the wire. In this exemplary case, torque generator 102 includes a wrap spring that stores mechanical energy when the cable is pulled from the cable-based distance detector cable, and that stores mechanical energy when the cable is allowed to move to the cable-based distance detector cable. When the distance detector is in the winding drum, the cable is wound in it. In principle, it is also possible for the torque generator to comprise, for example, a rotating electrical machine driven with a regulated current. The cable-based di...

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Abstract

A cable-based distance detector comprises a winding drum (101) for winding a cable, a torque generator (102) for directing torque to the winding drum so as to retract the cable, a measurement drum (103) configured to be rotated by the cable when the cable is wound in by the winding drum or wound off from the winding drum, and an encoder connected to the measurement drum and producing an en- coder signal indicative of revolutions of the measurement drum and the length of the portion of the cable wound in or off. As there is the separate measurement drum, the measurement is more accurate than in cases where revolutions of the winding drum are measured because different turns of the cable on the winding drum may have different lengths. The cable-based distance detector is suitable for a system for generating calibration data for a robot.

Description

technical field [0001] The present invention relates to a cable based distance detector. The cable-based distance detector may eg, but not necessarily, be part of a system for generating deviation data indicative of inaccuracies in kinematic parameters of the robot and be suitable for calibrating the robot. Furthermore, the invention relates to a method of measuring the length of a portion of a cable wound in or unwound from a winding drum of a cable-based distance detector. Background technique [0002] In many cases, there is a need to detect the distance between two points in 3D space. For example, when calibrating a robot, it is necessary to measure the positioning orientation of the end effector of the robot, ie, six degrees of freedom "6-DOF". The robot may for example be an industrial robot comprising at least one manipulator, wherein the manipulator is an arm-like mechanism consisting of links attached to each other by joints. The manipulator extends from the base...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1623B25J9/1692G05B2219/39024G05B2219/37126G05B2219/39009G01B3/11G01B7/004G01B7/026
Inventor 海基·汉德罗斯吴华鹏李明
Owner LAPPEENRANNAN TEKNILLINEN YLIOPISTO
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